Is it possible to use a different physics engine in Isaac Sim?

Omniverse Isaac Sim
1

Isaac Sim Version

4.2.0

Isaac Lab Version (if applicable)

1.2

Operating System

Ubuntu 22.04
Windows 11

Hello, I’m currently working on a simulation project using Isaac Sim. By default, Isaac Sim uses the PhysX physics engine, but due to specific requirements for my simulation, I would like to explore the possibility of using a different physics engine (e.g., MuJoCo, Bullet, ODE, etc.).

  1. Is it possible to integrate or use a physics engine other than PhysX in Isaac Sim?
  2. If so, could you please share any related documentation or resources?

I’m looking for insights or guidance on utilizing various physics engines in Isaac Sim. Thank you for your help!

2

It’s not supported currently.

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