Add Articulation properties setter

embodichain/lab/sim/objects/articulation.py

@@ -24,6 +24,7 @@
 
 from dexsim.engine import Articulation as _Articulation
 from dexsim.types import (
+    ArticulationFlag,
     ArticulationGPUAPIWriteType,
     ArticulationGPUAPIReadType,
 )
@@ -1590,6 +1591,40 @@ def set_physical_visible(
             for link_name in link_names:
                 self._entities[env_idx].set_physical_visible(visible, link_name)
 
+    def set_fix_base(
+        self,
+        fix: bool = True,
+        env_ids: Sequence[int] | None = None,
+    ) -> None:
+        """Set whether the base of the articulation is fixed.
+
+        Args:
+            fix (bool, optional): Whether to fix the base. Defaults to True.
+            env_ids (Sequence[int] | None, optional): Environment indices. If None, then all indices are used.
+        """
+        local_env_ids = self._all_indices if env_ids is None else env_ids
+        for i, env_idx in enumerate(local_env_ids):
+            self._entities[env_idx].set_articulation_flag(
+                ArticulationFlag.FIX_BASE, fix
+            )
+
+    def set_self_collision(
+        self,
+        enable: bool = False,
+        env_ids: Sequence[int] | None = None,
+    ) -> None:
+        """Set whether self-collision is enabled for the articulation.
+
+        Args:
+            enable (bool, optional): Whether to enable self-collision. Defaults to True.
+            env_ids (Sequence[int] | None, optional): Environment indices. If None, then all indices are used.
+        """
+        local_env_ids = self._all_indices if env_ids is None else env_ids
+        for i, env_idx in enumerate(local_env_ids):
+            self._entities[env_idx].set_articulation_flag(
+                ArticulationFlag.DISABLE_SELF_COLLISION, not enable
+            )
+
     def destroy(self) -> None:
         env = self._world.get_env()
         arenas = env.get_all_arenas()

tests/sim/objects/test_articulation.py

@@ -184,6 +184,15 @@ def test_set_physical_visible(self):
         all_link_names = self.art.link_names
         self.art.set_physical_visible(visible=True, link_names=all_link_names[:3])
 
+    def test_setter_methods(self):
+        """Test setter methods for articulation properties."""
+        # Test setting fix_base
+        self.art.set_fix_base(True)
+        self.art.set_fix_base(False)
+
+        self.art.set_self_collision(False)
+        self.art.set_self_collision(True)
+
     def teardown_method(self):
         """Clean up resources after each test method."""
         self.sim.destroy()