Note:
\nI encountered an issue where the cube wouldn't slide on the ground, even with friction values set to zero. The solution was to set friction_combine_mode to 'min'. This way, during the interaction between the cube and the ground, the lowest friction value is applied (in this case, 0).
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I'm working on a project where I would need a dynamic obstacle. My idea is to create a RigidObject (a cube) and set it to a constant speed. What I came across is that when using I would like to know if there is any way to define a constant speed during the environment time. The speed of the cube is defined by an event class. |
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Replies: 2 comments 1 reply
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If it's sliding on the ground you should be able to give it a material with a friction coefficient of 0 and then give it an initial velocity. This deformable body shows how to set the initial state of a prim. (it's a deformable prim, but the init state should be similar for a rigid body). https://isaac-sim.github.io/IsaacLab/main/source/tutorials/01_assets/run_deformable_object.html |
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Feedback and Cube Configuration cube = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Cube",
spawn=sim_utils.CuboidCfg(
size=(0.5, 0.5, CUBE_HEIGHT),
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
mass_props=sim_utils.MassPropertiesCfg(mass=70.0),
collision_props=sim_utils.CollisionPropertiesCfg(collision_enabled=True),
visual_material=sim_utils.PreviewSurfaceCfg(
diffuse_color=(0.21, 0.5, 0.73),
metallic=0.2
),
physics_material=sim_utils.RigidBodyMaterialCfg(
static_friction=0.001,
dynamic_friction=0.001,
improve_patch_friction=False,
friction_combine_mode='min'
)
),
init_state=RigidObjectCfg.InitialStateCfg(
pos=(4.0, 0.0, CUBE_HEIGHT / 2),
lin_vel=(-0.5, 0.0, 0.0)
)
)Note: |
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Any idea how to set velocity at runtime? When I tried to do this it always raises an error Error message Seems this sort of APIs can not be used at runtime. Many thanks! |
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Feedback and Cube Configuration
Here is the configuration that worked: