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CoM and Inertia Scaling #1088

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cgokmen opened this issue Feb 5, 2025 · 0 comments

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cgokmen commented Feb 5, 2025

To support the newly-annotated masses, coms and inertias shipped with the object assets:

At load time, store the original mass / com / moi
When a new mass is set, use the ratio of the new mass to the original mass to compute the new moi, and make sure to set the same com still

RigidPrimView has the right APIs (set_com, set_inertia) to help with this.

cgokmen assigned hang-yin

cgokmen changed the title ~~Implement correct CoM and inertia scaling when mass is set~~ CoM and Inertia Scaling

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