Adding/removing anchor/constraint/joints during runtime in Isaac Gym


I’m interested in adding and consequently removing an anchor/constraint/joint between two objects in Isaac Gym during run-time of the simulation.

I haven’t found any relevant resources so far other than it is doable in the PhysX API which supports breakable joints.

Any chance this is supported in Isaac Gym as well?


Blockquote Hello Konstantinos,

As of my knowledge cutoff date in September 2021, Isaac Gym, which is developed by NVIDIA, provides a high-level interface for reinforcement learning and robotic simulations. While Isaac Gym offers various capabilities for simulating physics and interactions between objects, the ability to dynamically add and remove constraints (joints) between objects during runtime, such as breakable joints, might not be a built-in feature.

Isaac Gym focuses on providing a simplified environment for training and testing reinforcement learning agents, and its capabilities are designed to align with those goals. While I don’t have information on the exact features available in Isaac Gym beyond my knowledge cutoff date, it’s advisable to refer to the official documentation, forums, or contact NVIDIA support for the most up-to-date information regarding the specific functionality you’re looking for.

If Isaac Gym does not provide direct support for dynamically adding and removing constraints at runtime, you might need to consider workarounds or custom implementations to achieve similar effects within the framework’s capabilities.

For the most accurate and current information, I recommend reaching out to NVIDIA’s official support channels or checking the latest Isaac Gym documentation.

Best regards,