lowellm
January 18, 2021, 11:38pm
1
Hi, I asked this question in the Gym subforum, but I really meant to ask it here for Issac sim(maybe answers will be the same).
I read nvidia physics engine doesn’t use true rigid body dynamics as it doesn’t include coriolis forces. Is this true?
Can I use some other physics engine underneath Issaic sim?
lowellm:
coriolis
Hi lowellm,
The physics engine for both Isaac Sim and Isaac Gym are the same, which is NVIDIA PhysX.
But as far as I know ( but I might be wrong) coriolis forces are included in reduced coordinates articulations:
Articulations — NVIDIA PhysX SDK 4.0 Documentation .
About using other physics engines, I need to ask and get back to you, but my guess is that is doable but not easily, you probably need to write the extension. This link might be useful:
https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_physics.html
Kindly,
Liila
I am referring to this paper which says PhysX doesn’t include some forces.
That is an old paper. PhysX has added reduced coordination and articulation specifically for robotics applications since then.