I am trying to apply domain randomization (DR) to elements of my simulation and I ran into some issues related to ground friction. It is not possible to add DR noise to the ground plane friction values in the config file as in other parameters.
I see there’s a parameter to randomize the
rigid_shape_properties. As I understand, this should randomize the friction value of the rigid bodies of the loaded model, in which case the simulation will choose whatever value is smaller between two contacts (ground and model’s “feet”) during runtime, correct? However, changing this friction doesn’t seem to have any effect. I tried scaling by huge values or 0 and see no change in the simulation.
Changing the values during the creation of the ground plane does affect the simulation correctly. However, it is not possible to change the ground plane values during runtime? I tried re-creating the ground plane with the
add_ground function to no effect.
TL;DR: How to randomize (DR) for ground friction?