[Question] How to change the parameter value during runtime?

[jo-choi]

Hi,

When I include the object in a Scene, how do I change the value kinematic_enabled to True after defining the scene cfg?
Thank you in advance!

object = RigidObjectCfg(
    prim_path="/World/envs/env_.*/Object",
    init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 0.5), rot=(1.0, 0.0, 0.0, 0.0)),
    spawn=sim_utils.UsdFileCfg(
        usd_path=f"./object/object.usd",
        rigid_props=sim_utils.RigidBodyPropertiesCfg(
            kinematic_enabled=False,
            disable_gravity=False,
            enable_gyroscopic_forces=True,
            solver_position_iteration_count=8,
            solver_velocity_iteration_count=0,
            sleep_threshold=0.005,
            stabilization_threshold=0.0025,
            max_depenetration_velocity=10.0,
        ),
        activate_contact_sensors=True,
        mass_props=sim_utils.MassPropertiesCfg(mass=0.188, density=100.0),
    ),
)

[shanereetz]

To clarify, is the intention to create this object with kinematic_enabled=False as shown in the snippet above, then set it to True later? Or would it work to simply make it True from the beginning?