# How to bake simulations? **URL:** \ **Category:** Isaac Sim\ **Tags:** isaac-sim-v4-5-0\ **Created:** [May 6, 2025, 11:03am UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355 "2025-05-06T11:03:44Z")\ **Posts on this page:** 16\ **Page:** 1
**Author:** ![pekka3](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@pekka3](https://forums.developer.nvidia.com/u/pekka3)\ **Post date:** [May 6, 2025, 11:03am UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/1 "2025-05-06T11:03:44Z")
Note: For any Isaac Lab topics, please submit your topic to its GitHub repo ([GitHub - isaac-sim/IsaacLab: Unified framework for robot learning built on NVIDIA Isaac Sim](https://github.com/isaac-sim/IsaacLab)) following the instructions provided on Isaac Lab’s Contributing Guidelines ([Contribution Guidelines — Isaac Lab Documentation](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)). Please provide all relevant details below before submitting your post. This will help the community provide more accurate and timely assistance. After submitting, you can check the appropriate boxes. Remember, you can always edit your post later to include additional information if needed. ### Isaac Sim Version 4.5.0 4.2.0 4.1.0 4.0.0 4.5.0 2023.1.1 2023.1.0-hotfix.1 Other (please specify): ### Operating System Ubuntu 22.04 Ubuntu 20.04 Windows 11 Windows 10 Other (please specify): ### GPU Information - Model: Ada 6000 - Driver Version: ## Topic Description ### Detailed Description How can I bake sim, in a way that: - it plays faster in isaac sim - so I can open it in Kit 106 also and render ### Screenshots or Videos See here how I tried it: [![](https://global.discourse-cdn.com/nvidia/original/4X/7/1/e/71e721564ee4f913186440bf73c1408feeca7b4a.jpeg "2025 05 06 13 58 29") ](https://www.youtube.com/watch?v=FoQmuawDI8g) Nothing comes out.. How can I do this? ---
**Author:** ![VickNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/vicknv/32/14043_2.png) [@VickNV](https://forums.developer.nvidia.com/u/VickNV)\ **Post date:** [May 6, 2025, 4:56pm UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/2 "2025-05-06T16:56:47Z")
Could you please provide the full log from your attempt to bake the simulation? Are there any error messages or warnings that might help identify the issue? ---
**Author:** ![pekka3](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@pekka3](https://forums.developer.nvidia.com/u/pekka3)\ **Post date:** [May 7, 2025, 7:46am UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/3 "2025-05-07T07:46:13Z")
Thanks! Here you can see all that: [![](https://global.discourse-cdn.com/nvidia/original/4X/e/e/2/ee2da6278f473236f4d7c38686545ed05a8abc21.jpeg "trying to bake in isaac sim 4.5") ](https://www.youtube.com/watch?v=Re9wx8jKTK8) ---
**Author:** ![pekka3](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@pekka3](https://forums.developer.nvidia.com/u/pekka3)\ **Post date:** [May 18, 2025, 4:07pm UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/4 "2025-05-18T16:07:48Z")
@VickNV do you need more info from my issue? ---
**Author:** ![VickNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/vicknv/32/14043_2.png) [@VickNV](https://forums.developer.nvidia.com/u/VickNV)\ **Post date:** [May 20, 2025, 3:45am UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/6 "2025-05-20T03:45:22Z")
Sorry for missing this earlier. I have brought it to our team’s attention and will update you if there is any progress. ---
**Author:** ![Richard3D](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/richard3d/32/207062_2.png) [@Richard3D](https://forums.developer.nvidia.com/u/Richard3D)\ **Post date:** [May 20, 2025, 8:13pm UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/7 "2025-05-20T20:13:57Z")
The stage recorder is working perfectly fine. I have tested it in kit 107 and kit 106. Here is a video of the correct way to use it ---
**Author:** ![Richard3D](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/richard3d/32/207062_2.png) [@Richard3D](https://forums.developer.nvidia.com/u/Richard3D)\ **Post date:** [May 20, 2025, 8:38pm UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/8 "2025-05-20T20:38:31Z")
However, as mentioned previous, this is not the best way of baking animation data. Using stage recorder still works with an “over” layer and it works well for one or two objects. But you need a separate file for EACH object. This makes it very impractical. The better way to bake in physics simulations is with the OMNI PVD Extension, found in the Extension Manager. See this video for how to use it. It is very simple. ---
**Author:** ![VickNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/vicknv/32/14043_2.png) [@VickNV](https://forums.developer.nvidia.com/u/VickNV)\ **Post date:** [May 20, 2025, 11:36pm UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/9 "2025-05-20T23:36:14Z")
Also, please see the related documentation below: - [Animation Stage Recorder (Beta) — Omniverse Extensions](https://docs.omniverse.nvidia.com/extensions/latest/ext_animation_stage-recorder.html) - [Animation Timeline and key frames — Omniverse Extensions](https://docs.omniverse.nvidia.com/extensions/latest/ext_animation-timeline.html) - [OmniPVD - PhysX Visual Debugger — Omni Physics](https://docs.omniverse.nvidia.com/kit/docs/omni_physics/latest/extensions/ux/source/omni.physx.pvd/docs/dev_guide/physx_visual_debugger.html) ---
**Author:** ![pekka3](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@pekka3](https://forums.developer.nvidia.com/u/pekka3)\ **Post date:** [May 21, 2025, 7:30am UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/10 "2025-05-21T07:30:15Z")
Thank you Richard! I followed carefully your instructions, but still I do not see any movement when I drag the timeline. Please check this video out: https://www.youtube.com/embed/jt3BbkwP8bc?feature=oembed&wmode=opaque I spent 30 min doing this, the video I have linked above is the 3rd test. so I really believe I did everything in correct order. Pekka ---
**Author:** ![VickNV](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/vicknv/32/14043_2.png) [@VickNV](https://forums.developer.nvidia.com/u/VickNV)\ **Post date:** [May 21, 2025, 5:11pm UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/11 "2025-05-21T17:11:08Z")
Please make your video public. By the way, I was able to successfully control the animation using the Timeline extension by following the instructions. ---
**Author:** ![pekka3](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@pekka3](https://forums.developer.nvidia.com/u/pekka3)\ **Post date:** [May 21, 2025, 6:29pm UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/12 "2025-05-21T18:29:38Z")
Oh sorry, it’s public now.. ---
**Author:** ![Richard3D](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/richard3d/32/207062_2.png) [@Richard3D](https://forums.developer.nvidia.com/u/Richard3D)\ **Post date:** [May 22, 2025, 1:38am UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/13 "2025-05-22T01:38:33Z")
OK I can see the error in the video. You are not doing the most important step. You have to remove all the physics from the scene before you can apply the animation cache. That is the entire point of this. 1. You run the physics, which records an animation cache 2. you REMOVE all physics from the objects. See in my video. 3. you then apply the cache to drive the simulation without the need for physics. If you leave the physics attached to the objects before applying the animation cache, it will ignore it. ---
**Author:** ![pekka3](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@pekka3](https://forums.developer.nvidia.com/u/pekka3)\ **Post date:** [May 22, 2025, 7:18am UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/14 "2025-05-22T07:18:16Z")
Great, thanks for pointing that out. I watched also my video from yesterday closely. I remove the physics from the cube but not from the ground plane. So I did it again today. 1st try: [![](https://global.discourse-cdn.com/nvidia/original/4X/6/5/6/6569df85f20f057265d900e749a4065d604176fc.jpeg "1st try 22May") ](https://www.youtube.com/watch?v=UAGTk8F_lMA) I did not delete the physics from the “ground collider” since that cannot be selected by mouse. 2nd try: [![](https://global.discourse-cdn.com/nvidia/original/4X/7/e/3/7e37194a9597872d54a91ad8407ffd497552c834.jpeg "2nd Try 22May") ](https://www.youtube.com/watch?v=V_hpX2ufirE) I do not even have the environment here. But still its not working. What can it be now? Pekka ---
**Author:** ![pekka3](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@pekka3](https://forums.developer.nvidia.com/u/pekka3)\ **Post date:** [May 22, 2025, 7:58pm UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/16 "2025-05-22T19:58:25Z")
Oh Sorry about leaving the rec on. I saved since you added another comment with a video, telling that it should be saved first. ---
**Author:** ![Richard3D](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/richard3d/32/207062_2.png) [@Richard3D](https://forums.developer.nvidia.com/u/Richard3D)\ **Post date:** [May 22, 2025, 9:08pm UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/17 "2025-05-22T21:08:10Z")
If it does not work for you, I do not know why. I just did it again on a fresh machine and its fine. I have to close this thread. I know the answer is correct. ---
**Author:** ![Richard3D](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/richard3d/32/207062_2.png) [@Richard3D](https://forums.developer.nvidia.com/u/Richard3D)\ **Post date:** [May 22, 2025, 9:08pm UTC](https://forums.developer.nvidia.com/t/how-to-bake-simulations/332355/18 "2025-05-22T21:08:16Z")