Randomization center-of-mass of articulation in isaac lab

I am trying to implement a randomization event for the position of the center of mass in a legged-robot in Isaac lab. Trying to use asset.root_physx_view.set_coms(), it works fine for rigid bodies but not for articulations in combination with GPU pipeline.

As alternative solution, I am trying to add a fake mass linked with the base. Then I think to control this mass along the z axis to obtain the desired position. However, it sounds to me overly complicated and also messes up with the action manager, which has to deal with an additional joint.

I found some similar topics but they seems to be still open (Position of the center of mass of a robot having multiple links). I am wondering if there is a better way to do that.

Thanks for your help!