The current IsaacGym wrapper does not support domain randomization for each rollout in terms of object size. In addition, current randomization in ft-add-pulling branch only changes friction and mass for the pushed object once. Meaning all rollouts will have a certain value for mass and friction, while the main sim will have something else. so all rollouts are equally wrong.
Domain randomization of mass and friction should be moved to the create_actor method so that every rollout is different.
We should add a way to randomize object size for each rollout
cpezzato
commented
1 year ago
The current IsaacGym wrapper does not support domain randomization for each rollout in terms of object size. In addition, current randomization in
ft-add-pullingbranch only changes friction and mass for the pushed object once. Meaning all rollouts will have a certain value for mass and friction, while the main sim will have something else. so all rollouts are equally wrong.create_actormethod so that every rollout is different.