How can I turn off the collision of the robot while simulation is running?

Omniverse Isaac Sim
1

Hi, I want to turn off the robot collision property while the simulation runs. Is this possible? I’d appreciate it if you could provide me with a simple code.

thanks!

2

Hi,
yes this should be possible, you can get the UsdPrim where CollisionAPI is applied and change the attribute for collision enabled, something like this:

collisionAPI = UsdPhysics.CollisionAPI.Get(stage, primPath)
collisionAPI.GetCollisionEnabledAttr().Set(False)

Regards,
Ales