Case is like Arm mounted on top of moving base. Can we turn on and off the physics of base only ? Basically can we start and stop the physics whenever required in an Isaac Sim ?
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Hi - Sorry for the delay in the response. Let us know if you still having this issue/question with the latest Isaac Sim 2022.2.1 release.
yes - each rigid body can be enabled/disabled during runtime - There is a checkbox Rigid Body Enabled that you can check / uncheck on rigid bodies that will disable their physics
It can also be programatically checked / unchecked using the PhysicsRigidBodyAPI
Bodies connected to the base will remain rigid bodies and simulated by physics - If you need to disable them as well (e.g. wheels) be sure to disable the joint that connects them together too, otherwise it may cause some errors to
show on screen - but simulation will still run without crashing
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