[Question] How to change the friction of the rigidobject from the Usd or urdf ? #1578
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yichaoshen-MS
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My recommendation is to do it through PhysX directly (at runtime) as having this information at the USD-level gets slightly complicated due to the instancing of meshes. We have the event term for randomizing PhysX material here: https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py#L34 |
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Unlike the object from the "sim_utils.CuboidCfg", it cannot set the friction of "physics_material" in the "sim_utils.UsdFileCfg"?
It seems only can set global friction by spawning physics_material in "SimulationCfg"?
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