Using Alternative Physics Engines in Isaac Sim 4.5.0

Omniverse Isaac Sim
1

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: RTX4060
  • Driver Version: 561.03

Topic Description

Hello, I am working on an embodied robot simulation using Isaac Sim 4.5.0. By default, Isaac Sim uses the PhysX physics engine, but I am interested in exploring the possibility of using alternative physics engines, such as MuJoCo.

Detailed Description

  1. Can I replace Isaac Sim’s PhysX engine with another physics engine, such as MuJoCo?
  2. Is it possible to disable Isaac Sim’s physics engine while retaining its ray-traced rendering capabilities?
  3. Could you recommend any resources or documentation on integrating Isaac Sim and MuJoCo for co-simulation?

I would appreciate any insights or guidance on this topic. Thank you!

2

It’s not supported currently.

3

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