Hi community!
I want to set up a gym RL environment similar to those in OmniIsaacGymEnvs on Isaac Sim, and I want to apply domain randomization on reset.
In the official example, a reset_inds
can be passed to specify the environment where domain randomization should be applied.
My question is: how does the domain randomization know which prims are inside the environment with a specific env_id
(in case I want to apply domain randomization for rigid_prim_views
)?
When setting up the domain randomization, only the rigid_prim_view
name is required. There is no need to specify the env_id
of each prim. I am afraid of randomizing a wrong rigid prim when passing reset_inds
.
Thanks in advance!