RL Domain Randomization with Material, Texture like those in Replicator Synthetic Data Examples

Omniverse Isaac Sim
1

Hello!

I wonder how to domain randomize some rendering related parameters during RL Training. This can be particularly useful for getting rendered visual input.

RL Randomization Tutorial

The tutorial here introduces how to randomize Physics related parameters for rigid body and robot articulation. But I don’t see how to randomize visual parameters.

Thank you!