How can I push a RigidBody with a KinematicBody in a non-glitchy way?

jmancoder

I am trying to create an FPP game with RigidBody items that can be pushed by the player. Infinite_inertia is off, because I need the item to stop when it hits a wall. This gives simple pushing while it isn't sleeping (which shouldn't even happen anyway), but it is inadequate for my needs. How do do this?

jmancoder

I noticed that using apply_central_impulse works well with the glitch, because it wakes the item up. However, it isn't affected by weight or anything. Maybe allowing custom inertia would be better than infinite or none?