Documents/examples about setting entity physcial properties(for domain randomization in RL training)

[annan-tang]

Thank you for creating this excellent simulator! I am currently migrating my reinforcement learning code from IsaacGym to Genesis. While working on this transition, I've noticed that I need some clarification regarding the APIs for setting physical properties of entities. Specifically, I'm looking for information on how to set:

Link properties:

Mass Inertial properties Center of mass

Joint properties:

Friction Motor rotor parameters (armature/inertia)

RigidShape material properties:

Friction coefficients Restitution

I've found some relevant APIs in the documentation:

set_mass(link) set_friction(link) set_friction(geometry) set_friction_ratio(entity)

However, I'm wondering if there are additional APIs for setting other physical properties that I might have missed. Would you be able to:

Point me to any documentation covering these features? Share examples demonstrating how to set these various properties? Provide a comprehensive list of all available property-setting APIs? Or is it possible to customize these APIs easily if they are not currently available?

Thank you for your time and assistance.