domain randomization with loading different xml files

[rodriguesvinay]

Hello, I would like to load the robot with different bodies as part of the domain randomization. so basically different xmls. I would like to also randomize the physical properties like friction, mass, etc. along across different xmls. I tried creating different xmls and then randomizing different physical parameters but not able to reproduce the sequence as I think I am not staying inside one file.

Modifying mj_model_tree, doesn't make sense in this case I guess as I want to spawn the robot with different bodies. I am not so proficient in using jax to tinker inside the core code. Could you please suggest any better way to do this?