Changing size/height/radius of the basic rigid object every reset

Omniverse Isaac Sim
1

HI! I am currently using Isaac sim 4.2.0 with lsaac lab.
I am building RL environment, and I would like to vary the height or radius of my cylinder object at every reset. I found that i can reset the pose of the object to the random coordinates, but I couldn’t find how to change the height nor radius.
Is it impossible to change the spawn property during the simulation?
This is the cfg that I defined.
can = RigidObjectCfg(
prim_path=“/World/envs/env_.*/Cylinder”,
spawn=sim_utils.CylinderCfg(
radius=0.05,
height=0.3,
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
collision_props=sim_utils.CollisionPropertiesCfg(),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2),
),
init_state=RigidObjectCfg.InitialStateCfg(
pos=(0.0, 0.0, 0.6) #0.6: table height, should add can height
),
)

1 Like
3

I am trying to do the same thing, but it seems it might not be supported. Have you had any luck finding a work-a-round?

4

Thank you for your interest in Isaac Lab. Our apologies for our delayed response.

You can approach this using deformable body physics properties as discussed in this tutorial.

For future reference, to ensure efficient support and collaboration, please submit your topic to its GitHub repo following the instructions provided on Isaac Lab’s Contributing Guidelines regarding discussions, submitting issues, feature requests, and contributing to the project.

We appreciate your understanding and look forward to assisting you.