How do I change the physics simulator that an object uses

Omniverse Isaac Sim
1

Hello,

im trying to simulate a robot interacting with soft bodies. To my understanding (Im very new to this) the pre-made examples in Isaac Sim use finite element method to simulate the behavior of soft bodies (like the cubes in one of the examples). Im trying to use XPBD and VBD to model the properties of these cubes, but as this is all very new to me, I dont know where I can change the cubes properties, where I can change the code of the FEM and insert the one Im trying to use. Do I need to work with Action Graphs?

Thanks for any help!

3

Hi @cody-66, thank you for posting your question. Unfortunately, right now Isaac Sim does not support running physics engine for selective objects and there is no plans in the near future. One option you might want to check out for more accurate deformable simulation is Newton which build on NVIDIA Warp.

Hope that helps,
Michael