[RFC] Introducing transform primatives for sim2real
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@vmoens is already working on this.
Since Sep 17, 2026.
enhancement
- Dominant language
- Python
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Description
##Summary:
- Six transforms for sim-to-real + Compose recipes over existing mechanics.
- DomainRandomization needs a small protocol on EnvBase.
- these are the primatives i think we need to introduce:
ObservationDelay,ActionDelay,
ObservationNoise,ActuatorModel,SymmetryAugmentation,DomainRandomization.
DomainRandomization
##RFC decision for domainrandomization interaction with sim- A. EnvBase.physics_param_spec + set_physics_params(td); transform samples in _reset.
- B. Config field on MujocoEnvBase. Not composable, not loggable, no Isaac Lab path.
- C. Transform mutates env.unwrapped directly. No spec, breaks under ParallelEnv.
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