[Question] How to randomize robot size at runtime for RL training?

isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim

https://isaac-sim.github.io/IsaacLab

Other

2.17k stars 895 forks source link

[Question] How to randomize robot size at runtime for RL training? #766

Closed Wang-Haitong closed 4 weeks ago

Wang-Haitong commented 3 months ago

Question

Hi, I saw example code and API for domain randomization (e.g., physical material, friction, mass, etc). However, I wonder how to randomize the size (e.g., length, width, height) of a robot (or a rigid body) using API at runtime?

Mayankm96 commented 3 months ago

This is not possible at runtime with GPU-based physics. You can do it at startup though based on #186