I wanted to ask if it is possible to randomize the size of some bodies of the robot in Isaac Gym. I have a wheeled robot, and I would like to randomize the size of the wheels in a specific range. I have seen that randomizing friction and mass is quite easy to do it when spawning the robot, but I do not see anything about sizes.
You can’t change size of the objects, after importing an asset you can’t do much, if you need it only for the wheels one way is to fake it, changing the diameter of the wheel affects the speed, friction and… find those relations and create a parameter or more which can simulate the behaviour, add that parameter to your observation space and it should work.