How do you change the Center of Mass of an object?

I was wondering if, say, you move the COM of a primitive like a capsule lower in order to make it self-balance without the use of scripts. Or, maybe moving the COM of another object to more realistically fit its balance (like a human character).

Is this possible? Or would you need to do some kind of parent/child trick to change the physics?

You could use compound rigidbodies where the parent is effectively the center of mass.

Documentation is due soon but you can see an example of the setup here: Compound Physics Shapes | Learn PlayCanvas