Adds modify_environment_parameter to curriculums

[jtigue-bdai]

Description

This PR provides a function which can be used to modify any parameter during the curriculum. An example of how to use is:

def modify_joint_reward_term(env: ManagerBasedRLEnv, term_cfg: RewardTermCfg, value: float):
    # Applying scaling with bounds for safety
    term_cfg.params["error_scaling"] = min(200.0, max(0.5, term_cfg.params["error_scaling"] * value))
    env.reward_manager.set_term_cfg("joint_reward", term_cfg)

def modify_reach_target_termination_term(env: ManagerBasedRLEnv, term_cfg: DoneTerm, value: float):
    # Applying scaling with bounds for safety
    term_cfg.params["threshold_position"] = min(0.5, max(0.01, term_cfg.params["threshold_position"] * value))
    env.termination_manager.set_term_cfg("reach_target", term_cfg)

joint_reward = CurrTerm(
    func=velocity_mdp.modify_environment_parameter,
    params={
        "get_term_fn": lambda env: env.reward_manager.get_term_cfg("joint_reward"),
        "modify_term_fn": modify_joint_reward_term,
        "value": 0.25,
        "num_steps": 36000,
    },
)
command_widen = CurrTerm(
    func=velocity_mdp.modify_environment_parameter,
    params={
        "get_term_fn": lambda env: env.command_manager.get_term("ee_command_pose"),
        "modify_term_fn": lambda env, term_cfg, value: term_cfg.expand_command_limits(value=value),
        "value": 0.1,
        "num_steps": 48000,
    },
)
reach_target_pos = CurrTerm(
    func=velocity_mdp.modify_environment_parameter,
    params={
        "get_term_fn": lambda env: env.termination_manager.get_term_cfg("reach_target"),
        "modify_term_fn": modify_reach_target_termination_term,
        "value": 0.8,
        "num_steps": 72000,
    },
)

• New feature (non-breaking change which adds functionality)

Type of change

• New feature (non-breaking change which adds functionality)

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

Credit: @smirrazavi-bdai

[jtigue-bdai]

closing in favor of #2777