[Question] How to change the parameter value during runtime?

[jo-choi]

Hi,

When I include the object in a Scene, how do I change the value kinematic_enabled to True after defining the scene cfg?
Thank you in advance!

object = RigidObjectCfg(
    prim_path="/World/envs/env_.*/Object",
    init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 0.5), rot=(1.0, 0.0, 0.0, 0.0)),
    spawn=sim_utils.UsdFileCfg(
        usd_path=f"./object/object.usd",
        rigid_props=sim_utils.RigidBodyPropertiesCfg(
            kinematic_enabled=False,
            disable_gravity=False,
            enable_gyroscopic_forces=True,
            solver_position_iteration_count=8,
            solver_velocity_iteration_count=0,
            sleep_threshold=0.005,
            stabilization_threshold=0.0025,
            max_depenetration_velocity=10.0,
        ),
        activate_contact_sensors=True,
        mass_props=sim_utils.MassPropertiesCfg(mass=0.188, density=100.0),
    ),
)

[shanereetz]

To clarify, is the intention to create this object with kinematic_enabled=False as shown in the snippet above, then set it to True later? Or would it work to simply make it True from the beginning?

[RandomOakForest]

Thanks for posting this. This is most likely not possible. Is there other way to achieve what you need?

[RandomOakForest]

Following up on this, the team thinks PhysX under-the-hood of Isaac Lab should be able to handle this fine, so does omni.physx, however it may need further work downstream. But on omni.physx side you can change the kinematic attribute in runtime and it will toggle the kinematic flag in PhysX, thus, this should be fine.

Let us know if you need further help.