Hi, In Isaac Sim you can model this using custom forces between the wheel links and nearby “magnetic” surfaces, typically implemented either as scripted force fields or via a custom physics plugin rather than true electromagnetic simulation.
Isaac Sim’s native physics (PhysX) does not provide a general-purpose magnetic field model between arbitrary rigid bodies out of the box. For a wall‑climbing robot, the usual approach is to treat magnetism as an additional attractive force between wheel links and nearby surfaces, not as a new contact type.
Conceptually, you want for each wheel link:
Detect which surface it is close to (floor, wall, beam, ceiling).
Compute a “magnetic” force vector pointing from the wheel toward the surface, with a magnitude up to your adhesion force (e.g., 200 N at contact).
Apply that force at the wheel link in the physics step.