Access prim attributes in Isaac Lab using Python API

Omniverse Isaac Sim
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Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
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Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: NVIDIA GeForce RTX 3070 Ti
  • Driver Version: 535.183.01

Topic Description

Detailed Description

I am trying to change the surface velocity of a rigid object in Isaac Lab but can not figure out how to access any of the attributes of the object.

The overall goal is to train a PPO model where the action would change the surface velocity. The examples that exist show actuators or articulations but I have not seen anyway to change surface velocity.

Example of the attribute that would need to be changed /World/Belts/object.physxSurfaceVelocity:surfaceVelocity

Needs to done through the Python API so that I can conduct training

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