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
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
Thanks in advance!