Dynamic randomization with center of mass and inertia

Hi, I’m using the Isaac Gym for my robot learning program.
I’m trying to do dynamic randomization with the IsaacGymEnvs. However, it seems that only the mass of the robot can be randomized according to the domain_randomization.md. How can I randomize other properties like ‘com’, and ‘inertia’?

By the way, I just want to randomize the properties of one single object (such as a cup) after each episode, instead of everything. Is this supported in the latest Isaac Gym?

I have the same issues, i think the official doc will helps, can we get some discussion on this?