Changeable/Non-changeable variables in Isaac

Hello.

While implementing robot simulation with Isaac sim, I wondered if all the parameters that apply to the environment could change during the change in the simulation time.

For example, for domain randomization, I understand that some variables can be updated to match the reset signal.

Then, can variables such as ‘the control period of the articulator’(sim_dt, control_dt) be changed arbitrarily rather than fixed depending on the episode?

Thank you.

Hi there, the simulation time can be set using set_simulation_dt from the SimulationContext class. Not all parameters can be changed on the fly though, and it will probably require a world.reset() to do so.

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