[isaacsim.replicator.experimental.domain_randomization] Isaac Sim Replicator Domain Randomization

Version: 1.1.0

Domain Randomization extension for reinforcement learning and sim-to-real applications. Provides OmniGraph nodes for randomizing simulation environments.

Enable Extension

The extension can be enabled (if not already) in one of the following ways:

Command-line interface

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.replicator.experimental.domain_randomization

Experience/extension configuration

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.replicator.experimental.domain_randomization" = {}

Extension Manager UI

Open the Window > Extensions menu in a running application instance and search for isaacsim.replicator.experimental.domain_randomization. Then, toggle the enable control button if it is not already active.

Omnigraph Nodes

The extension exposes the following Omnigraph nodes:

• Count
• Interval Filter
• On Frame
• Write Physics Attribute using Tensor API
• Write Physics Attribute using Tensor API
• Write Physics Attribute using Tensor API