The motion model and kinematic implementation for simulation in Physx

Omniverse Isaac Sim
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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
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Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
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Topic Description

I am working on a quadcopter RL training related project in IsaacLab. In the example file they use a function called “set_external_force_and_torque” to apply force and torque on the quadcopter. I can pass a 3 dim force and 3 dim torque to the function, and then it will pass those to some IsaacSim files for simulation.

I would like to know how’s the force and torque apply to the agent in simulation? Or I should say, how is the agent interact with the physics engine? Where can I find the docs indicating the motion model implementation and the relative mathmatical model?

I believe it should be similar to some common quadrotor dynamic model. I just need an evidence for citation when I implement my work in IsaacLab.

Although I work in IsaacLab env, but I believe this problem is more relavent to IsaacSim. If needed, I will also submit this to the GitHub repo.

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We appreciate your understanding and look forward to assisting you.

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