Can I set passive joint at isaacgym?

I want to make some joints act passive.
Can I use sdf at isaacgym to make passive joints?

Hi @user126650

I think you can define passive joints by setting the DOF drive mode to DOF_MODE_NONE and the stiffness and damping to 0… as shown in the Isaac Gym docs

The BallBalance task is a good example of it…

Thanks!!
It’s really helpful for me.

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