Define a custom physics model in Isaac Sim

Hello everyone,

is it possible to implement a customized physics model, for example a model with non constant gravity?
The idea would be to write our own equations of motion to move the objects in the scene.

Thank you.

Currently with PhysX SDK as the core solution one would have to disable gravity and apply forces to all the bodies in the stage every frame. This way you could emulate the desired behavior.

Regards,
Ales