[Question] How to fix a rigid body on a plane/table but maintain its material properties like contact stiffness and damping?

[REALMagguan]

Question Description

I want to simulate some scenes that interact with fixed rigid bodies in the environment, and I want to preserve the stiffness and damping characteristics of this fixed rigid body.

I have learned that it is possible to fix rigid bodies in the environment by setting sim_utils.RigidBodyPropertiesCfg(kinematic_enabled = True).

However, in the official documentation https://isaac-sim.github.io/IsaacLab/main/source/how-to/make_fixed_prim.html, the explanation is very vague, and I am not sure if these material parameters will be retained during contact.

So I raised this question.
How to set up a rigid body in the contact-rich simulation environment that can preserve material contact characteristics and be fixed in the environment?

Furthermore, extending from the question above:
How to fix a rigid object onto another rigid object while maintaining the physical properties of each rigid object?

[RandomOakForest]

Thank you for posting this. Properties do not change, and material characteristics should be preserved in such environments. Note that if a property is not specified, its USD value will prevail.