Domain Randomization

[caochengdeng]

I'm wondering if there are plans to support domain randomization in the future?Currently, when using the Newton simulator, I can successfully apply domain randomization to parameters like friction and joint attributes after the solver is initialized. However, randomizing the center of mass causes the robot to fly off uncontrollably.

[xbpeng]

Yes, we are planning to add support for domain randomization and sim2real transfer in the future. But no concrete ETA on that yet. Stay tuned!

When updating physics parameters in Newton, I think you need to update the solver in some way after the changes are mained, otherwise the sim will probably have issues. I don't remember the specific function that needs to be called.