[Question] How to set a constant velocity for a RigidObject?

[JPBG-USP]

I'm working on a project where I would need a dynamic obstacle. My idea is to create a RigidObject (a cube) and set it to a constant speed.

What I came across is that when using mdp.reset_root_state_uniform , or mdp.push_by_setting_velocity, the speed is only applied one instant of time dt.

I would like to know if there is any way to define a constant speed during the environment time. The speed of the cube is defined by an event class.

[StrainFlow]

If it's sliding on the ground you should be able to give it a material with a friction coefficient of 0 and then give it an initial velocity. This deformable body shows how to set the initial state of a prim. (it's a deformable prim, but the init state should be similar for a rigid body).

https://isaac-sim.github.io/IsaacLab/main/source/tutorials/01_assets/run_deformable_object.html