Question: What did Darwin learn about about the characteristics of domestic animals?
Sentence: He accepted a version of the inheritance of acquired characteristics (which after Darwin's death came to be called Lamarckism), and Chapter V discusses what he called the effects of use and disuse; he wrote that he thought "there can be little doubt that use in our domestic animals strengthens and enlarges certain parts, and disuse diminishes them; and that such modifications are inherited", and that this also applied in nature.
Answer in sentence: yes