How to change the base rigid body's center of mass after the actor is loaded?

Autonomous Machines Robotics - Isaac Isaac Gym
1

Hi,

I want to change the base body’s center of mass after the actor is loaded using GPU. I tried to use the following line:

rigid_body_prop[0].com = gymapi.Vec3(0.0, 1.0, 1.0)
self.gym.set_actor_rigid_body_properties(self.envs[env_id], self.actor_handles[env_id], rigid_body_prop, recomputeInertia=True)

The com is the same before and after setting the new rigid body property. I also tried to change the mass, and it worked. Is this the proper way of changing the actor’s CoM, or is it impossible after the actor is loaded?

2

Hi @junhong-xu-14 ,
According to the documentation for set_actor_rigid_body_properties as per Isaac Gym (1.0preivew4):

Note: Changing the center-of-mass when using the GPU pipeline is currently not supported (but mass and inertia can be changed).

This might be reason why CoM wasn’t changing. Maybe try to use the CPU ?