Requiring simpler API for designating physical parameters about isaacgymenvs HOT 2 OPEN

We would appreciate it if this function

(https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/tree/main/isaacgymenvs/tasks/base)/vec_task.py 

Line 512
    def apply_randomizations(self, dr_params):

could have a counterpart: apply_parameters(self, params)

from isaacgymenvs.

Hi,

I also found it difficult to apply (domain randomization) DR part in some research projects. Specifically, (1) when I want to pass in certain parameter values for each variable for one or several episodes, or (2) get the values out from the internal DR process for a certain episode.

One thing I notice is that Isaacgym envs apply a different reset procedure, which is asynchronous for all parallel evn, so I'm not sure if it is possible to achieve the functions I described above.

Thanks

from isaacgymenvs.