Fix object pose in space

[shafeef901]

Hi community, excellent work on this framework. I cannot recommend it enough to others. My question is:

I have an object (ladder) that is modeled as a rigid body in Orbit. I'd like to know if it is possible to fix the pose of the object on the ground while the robot can manipulate on it. In my case, I'd like to have the ladder at an inclination and stay there fixed even when the robot does some manipulation over it.

Thanks.

[shafeef901]

While spawning the object, enabling the kinematics explicitly achieves the above-mentioned behavior. i.e. fixing the object pose.
UsdFileCfg(usd_path="path/to/object", rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True))