Set_actor_rigid_body_properties not working after create_sim

I am trying to implement domain randomization for each actor in the simulation within episodes. Calls to set_actor_rigid_body_properties or set_actor_rigid_shape_properties after create_sim return True but appear not to change the body mass, friction, etc. Have others made this work? / Is there some additional update call I’m missing?

There are certain parameters, such as mass and scale, that the GPU pipeline does not currently support changing at runtime. You can take a look at the DR documentation for more details (IsaacGymEnvs/ at main · NVIDIA-Omniverse/IsaacGymEnvs · GitHub. The DR implementation in may also be a good reference.