# \#physics **URL:** https://forums.developer.nvidia.com/tag/physics/290.md [Latest](https://forums.developer.nvidia.com/latest.md) · [Categories](https://forums.developer.nvidia.com/categories.md) · [Tags](https://forums.developer.nvidia.com/tags.md) --- ## [Is there a way to compute overlaping volume of two objects?](https://forums.developer.nvidia.com/t/is-there-a-way-to-compute-overlaping-volume-of-two-objects/317177)
**Author:** [@HaoyuMa](https://forums.developer.nvidia.com/u/HaoyuMa)\ **Replies:** 3\ **Last updated:** [September 16, 2026, 2:34am UTC](https://forums.developer.nvidia.com/t/is-there-a-way-to-compute-overlaping-volume-of-two-objects/317177 "2026-09-16T02:34:51Z")
Isaac Sim Version 4.2.0 Isaac Lab Version (if applicable) 1.2 Operating System Ubuntu 22.04 Hi. Specifically I have two prims(one represents robot and the other one has a simple shape,eg, cube), and I have turned … --- ## [\[Isaac Sim 6.0.1\] omni.physx.fabric does not output PBD particle positions to Fabric — particles forced through the USD write-back, capping FPS](https://forums.developer.nvidia.com/t/isaac-sim-6-0-1-omni-physx-fabric-does-not-output-pbd-particle-positions-to-fabric-particles-forced-through-the-usd-write-back-capping-fps/382982)
**Author:** [@abhishek.kudavale](https://forums.developer.nvidia.com/u/abhishek.kudavale)\ **Replies:** 3\ **Last updated:** [September 15, 2026, 5:53pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-6-0-1-omni-physx-fabric-does-not-output-pbd-particle-positions-to-fabric-particles-forced-through-the-usd-write-back-capping-fps/382982 "2026-09-15T17:53:43Z")
Isaac Sim Version 6.0.1 Running the official NGC Isaac Sim 6.0.1 container, full streaming app (headless, WebRTC). Kit 110.1.2+production.326809.f9bf0dda.gl · omni.physx 110.1.13 · omni.physx.fabric 110.1.13 · Pytho… --- ## [How to add physics and surface deformation (dents, scratches) to USD models in Isaac Sim?](https://forums.developer.nvidia.com/t/how-to-add-physics-and-surface-deformation-dents-scratches-to-usd-models-in-isaac-sim/380860)
**Author:** [@mertogzhn55](https://forums.developer.nvidia.com/u/mertogzhn55)\ **Replies:** 2\ **Last updated:** [September 4, 2026, 8:08pm UTC](https://forums.developer.nvidia.com/t/how-to-add-physics-and-surface-deformation-dents-scratches-to-usd-models-in-isaac-sim/380860 "2026-09-04T20:08:12Z")
Is it possible to add physics to any USD/USDC model in Isaac Sim and apply surface deformations (such as scratches, dents, or welding effects) directly on the object? For instance, is it possible to create a scratch whe… --- ## [Object attached with FixedJoint not perfectly following robot driven through state:angular:physics:position](https://forums.developer.nvidia.com/t/object-attached-with-fixedjoint-not-perfectly-following-robot-driven-through-statephysics-position/379248)
**Author:** [@alberto.guglielmo1](https://forums.developer.nvidia.com/u/alberto.guglielmo1)\ **Replies:** 1\ **Last updated:** [August 7, 2026, 3:47am UTC](https://forums.developer.nvidia.com/t/object-attached-with-fixedjoint-not-perfectly-following-robot-driven-through-statephysics-position/379248 "2026-08-07T03:47:59Z")
Hi everyone, I am working with a 6-DOF industrial manipulator in Isaac Sim. During the pick operation, an object is attached to the robot using a FixedJoint created at runtime through extension scripts. The main challe… --- ## [Physics Material Restitution in Newton Physics in 6.0.1](https://forums.developer.nvidia.com/t/physics-material-restitution-in-newton-physics-in-6-0-1/376009)
**Author:** [@sebastien.tixier1](https://forums.developer.nvidia.com/u/sebastien.tixier1)\ **Replies:** 1\ **Last updated:** [July 8, 2026, 5:10pm UTC](https://forums.developer.nvidia.com/t/physics-material-restitution-in-newton-physics-in-6-0-1/376009 "2026-07-08T17:10:37Z")
Important: Isaac Sim support Note: For Isaac Sim support, the community is gradually transitioning from this forum to the Isaac Sim GitHub repository so that questions and issues can be tracked, searched, and resolved m… --- ## [Issues Controlling Articulation Joints via Python — GPU Physics Crash & Joint Velocity Limit](https://forums.developer.nvidia.com/t/issues-controlling-articulation-joints-via-python-gpu-physics-crash-joint-velocity-limit/366398)
**Author:** [@jingtong.wang](https://forums.developer.nvidia.com/u/jingtong.wang)\ **Replies:** 9\ **Last updated:** [May 4, 2026, 2:23pm UTC](https://forums.developer.nvidia.com/t/issues-controlling-articulation-joints-via-python-gpu-physics-crash-joint-velocity-limit/366398 "2026-05-04T14:23:35Z")
Operating System: Windows Linux Kit Version: 110 (Kit App Template) 109 (Kit App Template) 108 (Kit App Template) 107 (Kit App Template) 106 (Kit App Template) 105 (Launcher) Kit Template: USD Compose… --- ## [Isaac Sim 5.0.0: App freezes when moving a Deformable "Bag" containing Deformable cables](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-app-freezes-when-moving-a-deformable-bag-containing-deformable-cables/358416)
**Author:** [@masaya-torigoe](https://forums.developer.nvidia.com/u/masaya-torigoe)\ **Replies:** 5\ **Last updated:** [April 30, 2026, 11:24pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-0-0-app-freezes-when-moving-a-deformable-bag-containing-deformable-cables/358416 "2026-04-30T23:24:36Z")
Scene Setup & Workflow • Version: Isaac Sim 5.0.0 (installed via Isaac Lab) • Mesh Creation: Created a thin vinyl bag and cables in Blender. • Export/Import: Exported as USD from Blender (all transforms applied) and … --- ## [Particle Emitter + GPU Dynamics Error in Isaac Sim Extension](https://forums.developer.nvidia.com/t/particle-emitter-gpu-dynamics-error-in-isaac-sim-extension/361072)
**Author:** [@mephiengineer](https://forums.developer.nvidia.com/u/mephiengineer)\ **Replies:** 7\ **Last updated:** [April 15, 2026, 12:00am UTC](https://forums.developer.nvidia.com/t/particle-emitter-gpu-dynamics-error-in-isaac-sim-extension/361072 "2026-04-15T00:00:50Z")
Hi everyone, I’m working on a custom extension trying to combine the modified trajectory\_generator\_example ( Lula Trajectory Generator — Isaac Sim Documentation ), and with a a particle emitter (based on FluidBallEmitte… --- ## [About whether the new physics engine 'Newton' is usable on Isaac Sim](https://forums.developer.nvidia.com/t/about-whether-the-new-physics-engine-newton-is-usable-on-isaac-sim/361597)
**Author:** [@Julie\_A](https://forums.developer.nvidia.com/u/Julie_A)\ **Replies:** 3\ **Last updated:** [March 11, 2026, 11:24pm UTC](https://forums.developer.nvidia.com/t/about-whether-the-new-physics-engine-newton-is-usable-on-isaac-sim/361597 "2026-03-11T23:24:43Z")
I know that the latest physics engine “Newton” can be used in Isaac Lab, and I want to know whether it can be used in Isaac Sim. Or is there a way to use “Newton”? Because I have seen that “Newton works with Isaac Lab, b… --- ## [Stiff Deformable Body](https://forums.developer.nvidia.com/t/stiff-deformable-body/361590)
**Author:** [@simon.gloor-ext](https://forums.developer.nvidia.com/u/simon.gloor-ext)\ **Replies:** 1\ **Last updated:** [February 26, 2026, 10:05pm UTC](https://forums.developer.nvidia.com/t/stiff-deformable-body/361590 "2026-02-26T22:05:30Z")
Hello, I am trying to create a letter/A4 sized piece of rather stiff cardboard in Isaac Sim so that the robot can bend it a bit to make the removal from a box easier, just like a human would do. Currently I am struggli… --- ## [Isaac Sim 5.1 (Ubuntu) Thin sheet Deformable (beta/deprecated) behaves like rigid (little/no visible deformation)](https://forums.developer.nvidia.com/t/isaac-sim-5-1-ubuntu-thin-sheet-deformable-beta-deprecated-behaves-like-rigid-little-no-visible-deformation/359023)
**Author:** [@sho2125](https://forums.developer.nvidia.com/u/sho2125)\ **Replies:** 5\ **Last updated:** [February 12, 2026, 9:57pm UTC](https://forums.developer.nvidia.com/t/isaac-sim-5-1-ubuntu-thin-sheet-deformable-beta-deprecated-behaves-like-rigid-little-no-visible-deformation/359023 "2026-02-12T21:57:05Z")
Important: Isaac Sim support Note: For Isaac Sim support, the community is gradually transitioning from this forum to the Isaac Sim GitHub repository so that questions and issues can be tracked, searched, and resolved m… --- ## [Issues with Simulation Consistency and Physics Jitter/Bouncing in AGV-Trailer Model](https://forums.developer.nvidia.com/t/issues-with-simulation-consistency-and-physics-jitter-bouncing-in-agv-trailer-model/357534)
**Author:** [@whynot012906](https://forums.developer.nvidia.com/u/whynot012906)\ **Replies:** 1\ **Last updated:** [January 16, 2026, 5:31pm UTC](https://forums.developer.nvidia.com/t/issues-with-simulation-consistency-and-physics-jitter-bouncing-in-agv-trailer-model/357534 "2026-01-16T17:31:54Z")
I am developing a simulation involving an AGV (lead vehicle) towing a trailer (rear vehicle) navigating an inclined plane (slope). I have encountered two specific issues that I need help with: 1. Inconsistency Between Si… --- ## [Realistic, physically accurate star cluster simulator with JAX and CUDA](https://forums.developer.nvidia.com/t/realistic-physically-accurate-star-cluster-simulator-with-jax-and-cuda/356464)
**Author:** [@florin.andrei](https://forums.developer.nvidia.com/u/florin.andrei)\ **Replies:** 0\ **Last updated:** [January 5, 2026, 7:59am UTC](https://forums.developer.nvidia.com/t/realistic-physically-accurate-star-cluster-simulator-with-jax-and-cuda/356464 "2026-01-05T07:59:37Z")
This is a project I built years ago, when I was a student, now rebuilt with JAX and Python, using GPU acceleration. It runs a physically accurate simulation of a star cluster. All aspects follow physical law: position, m… --- ## [Eliminating Tunneling & Jitter in Isaac Sim — Without Sub-stepping or Performance Loss](https://forums.developer.nvidia.com/t/eliminating-tunneling-jitter-in-isaac-sim-without-sub-stepping-or-performance-loss/354859)
**Author:** [@liuzc](https://forums.developer.nvidia.com/u/liuzc)\ **Replies:** 6\ **Last updated:** [January 2, 2026, 9:09pm UTC](https://forums.developer.nvidia.com/t/eliminating-tunneling-jitter-in-isaac-sim-without-sub-stepping-or-performance-loss/354859 "2026-01-02T21:09:35Z")
Hi Isaac Sim Community, We all know the pain points with discrete time-stepping (Δt): Large Δt → tunneling, jitter, non-physical artifacts Small Δt + sub-stepping → accurate but massive performance hit in large-scale … --- ## [Magnetic Force Between Robot Wheel and Surface](https://forums.developer.nvidia.com/t/magnetic-force-between-robot-wheel-and-surface/354885)
**Author:** [@cduberstein](https://forums.developer.nvidia.com/u/cduberstein)\ **Replies:** 1\ **Last updated:** [December 18, 2025, 10:13pm UTC](https://forums.developer.nvidia.com/t/magnetic-force-between-robot-wheel-and-surface/354885 "2025-12-18T22:13:10Z")
Isaac Sim Version 5.1.0 Operating System Ubuntu 24.04 GPU Information Model: NVIDIA GeForce RTX 5080 Driver Version: 580.105.08 CUDA Version: 13.0 Detailed Description I am currently developing a four wheeled mobi… --- ## [Mecanum wheels simulation not stable](https://forums.developer.nvidia.com/t/mecanum-wheels-simulation-not-stable/295281)
**Author:** [@asairam](https://forums.developer.nvidia.com/u/asairam)\ **Replies:** 2\ **Last updated:** [December 16, 2025, 8:53am UTC](https://forums.developer.nvidia.com/t/mecanum-wheels-simulation-not-stable/295281 "2025-12-16T08:53:15Z")
Hello, I have been working with a custom robot model with mecanum wheels. I have imported this robot from a STL file and attached the O3dyn robot’s wheels by rescaling it, kinda similar to this video. I am mostly follow… --- ## [Strange phenomena occur with SDF collisions](https://forums.developer.nvidia.com/t/strange-phenomena-occur-with-sdf-collisions/351278)
**Author:** [@Julie\_A](https://forums.developer.nvidia.com/u/Julie_A)\ **Replies:** 9\ **Last updated:** [December 1, 2025, 10:14pm UTC](https://forums.developer.nvidia.com/t/strange-phenomena-occur-with-sdf-collisions/351278 "2025-12-01T22:14:17Z")
I’m really sorry, but I have some confusion while using Isaac Sim. I created a plate and just wanted to test physics collisions. However, I noticed some strange phenomena: when the plate falls to the ground, it bounces … --- ## [Implementing Flexible "Sticker/Decal" Object with Both Deformation and Adhesion (Replicating Stickiness)](https://forums.developer.nvidia.com/t/implementing-flexible-sticker-decal-object-with-both-deformation-and-adhesion-replicating-stickiness/348487)
**Author:** [@kazushi-uchida](https://forums.developer.nvidia.com/u/kazushi-uchida)\ **Replies:** 4\ **Last updated:** [October 30, 2025, 7:08am UTC](https://forums.developer.nvidia.com/t/implementing-flexible-sticker-decal-object-with-both-deformation-and-adhesion-replicating-stickiness/348487 "2025-10-30T07:08:27Z")
Overview and Goal Using Isaac Sim 5.0.0, I am aiming to implement an object that mimics a seal or sticker, possessing both the properties of flexible deformation (paper-like behavior) and adhesion to other objects. Cu… --- ## [Step Physics Manually In a C++ Extension](https://forums.developer.nvidia.com/t/step-physics-manually-in-a-c-extension/347996)
**Author:** [@m.gcooper](https://forums.developer.nvidia.com/u/m.gcooper)\ **Replies:** 7\ **Last updated:** [October 22, 2025, 3:05am UTC](https://forums.developer.nvidia.com/t/step-physics-manually-in-a-c-extension/347996 "2025-10-22T03:05:20Z")
I am attempting to create an application that loads in a stage with a drone and publishes out simulated IMU data at 500Hz to another program. The requirements for this application are as follows: The publishing of IMU … --- ## [How can I use PhysicsNeMo (PNM) integrated with Omniverse?](https://forums.developer.nvidia.com/t/how-can-i-use-physicsnemo-pnm-integrated-with-omniverse/347922)
**Author:** [@stefano.oliveira](https://forums.developer.nvidia.com/u/stefano.oliveira)\ **Replies:** 0\ **Last updated:** [October 16, 2025, 2:15pm UTC](https://forums.developer.nvidia.com/t/how-can-i-use-physicsnemo-pnm-integrated-with-omniverse/347922 "2025-10-16T14:15:33Z")
Dear colleagues, For a specific application, I need to create a digital twin in the Omniverse environment using the physics-based AI models from PhysicsNeMo (PNM). However, I am unable to find the extension and the .kit… --- ## [Best Practices for Setting Friction & Restitution Coefficients for Sim2Real](https://forums.developer.nvidia.com/t/best-practices-for-setting-friction-restitution-coefficients-for-sim2real/347006)
**Author:** [@kazushi-uchida](https://forums.developer.nvidia.com/u/kazushi-uchida)\ **Replies:** 2\ **Last updated:** [October 8, 2025, 12:02am UTC](https://forums.developer.nvidia.com/t/best-practices-for-setting-friction-restitution-coefficients-for-sim2real/347006 "2025-10-08T00:02:53Z")
Hello everyone, I’m working on a Sim2Real project and aiming to configure my physics parameters as accurately as possible. I have a question regarding the best practices for setting friction and restitution coefficients… --- ## [I want to do cloth simulation in USD Composer, but I can't create cloth](https://forums.developer.nvidia.com/t/i-want-to-do-cloth-simulation-in-usd-composer-but-i-cant-create-cloth/345828)
**Author:** [@Kei\_Matsui2000](https://forums.developer.nvidia.com/u/Kei_Matsui2000)\ **Replies:** 11\ **Last updated:** [September 29, 2025, 3:28am UTC](https://forums.developer.nvidia.com/t/i-want-to-do-cloth-simulation-in-usd-composer-but-i-cant-create-cloth/345828 "2025-09-29T03:28:07Z")
I want to do cloth simulation in USD Composer, but I can’t create cloth. I selected “plane” from the “create” menu to create it, then with the plane selected, I chose “add” → “physics” → “particle cloth”. I’ve seen inf… --- ## [Force Filed Extension Removed](https://forums.developer.nvidia.com/t/force-filed-extension-removed/345686)
**Author:** [@blhf](https://forums.developer.nvidia.com/u/blhf)\ **Replies:** 4\ **Last updated:** [September 22, 2025, 11:42pm UTC](https://forums.developer.nvidia.com/t/force-filed-extension-removed/345686 "2025-09-22T23:42:08Z")
Note: For any Isaac Lab topics, please submit your topic to its GitHub repo ( GitHub - isaac-sim/IsaacLab: Unified framework for robot learning built on NVIDIA Isaac Sim ) following the instructions provided on Isaac Lab… --- ## [Can Isaac Sim simulate grass (physics simulation)?](https://forums.developer.nvidia.com/t/can-isaac-sim-simulate-grass-physics-simulation/345681)
**Author:** [@Julie\_A](https://forums.developer.nvidia.com/u/Julie_A)\ **Replies:** 1\ **Last updated:** [September 22, 2025, 11:33pm UTC](https://forums.developer.nvidia.com/t/can-isaac-sim-simulate-grass-physics-simulation/345681 "2025-09-22T23:33:29Z")
I would like to know if Isaac Sim can simulate grass, such as bending, rebounding, and so on. I saw that “Blender” has a plugin called “Physical Grass” that can easily simulate the physical properties of grass. I wonde… --- ## [Code equivalent of Add \> Physics \> Rigid body with colliders preset](https://forums.developer.nvidia.com/t/code-equivalent-of-add-physics-rigid-body-with-colliders-preset/341447)
**Author:** [@edsonbffilho](https://forums.developer.nvidia.com/u/edsonbffilho)\ **Replies:** 2\ **Last updated:** [September 20, 2025, 12:44am UTC](https://forums.developer.nvidia.com/t/code-equivalent-of-add-physics-rigid-body-with-colliders-preset/341447 "2025-09-20T00:44:40Z")
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 In… --- ## [How to retrieve raycast closest hit UV?](https://forums.developer.nvidia.com/t/how-to-retrieve-raycast-closest-hit-uv/343743)
**Author:** [@b.gaspar](https://forums.developer.nvidia.com/u/b.gaspar)\ **Replies:** 0\ **Last updated:** [September 1, 2025, 1:20pm UTC](https://forums.developer.nvidia.com/t/how-to-retrieve-raycast-closest-hit-uv/343743 "2025-09-01T13:20:13Z")
I am using sq = physx.get\_physx\_scene\_query\_interface() hit = sq.raycast\_closest(origin, direction, max\_distance, both\_sides) The goal would be to somehow get the hit prim’s hitpoint UV coords. In python sctipt I onl… --- ## [Issues Saving and Using Fine-Tuned Model for Inference in stokes\_mgn (PhysicsNemo)](https://forums.developer.nvidia.com/t/issues-saving-and-using-fine-tuned-model-for-inference-in-stokes-mgn-physicsnemo/339351)
**Author:** [@pranay.bhange](https://forums.developer.nvidia.com/u/pranay.bhange)\ **Replies:** 1\ **Last updated:** [July 18, 2025, 11:46am UTC](https://forums.developer.nvidia.com/t/issues-saving-and-using-fine-tuned-model-for-inference-in-stokes-mgn-physicsnemo/339351 "2025-07-18T11:46:03Z")
Hello, I’m currently working on the stokes\_mgn example from the NVIDIA PhysicsNemo CFD repository. I was able to successfully train the model as described in the README and also perform physics-informed fine-tuning. Ho… --- ## [Unexpected Spinning Behavior with Fixed Gripper Using Custom USD File](https://forums.developer.nvidia.com/t/unexpected-spinning-behavior-with-fixed-gripper-using-custom-usd-file/331226)
**Author:** [@terence0tan](https://forums.developer.nvidia.com/u/terence0tan)\ **Replies:** 3\ **Last updated:** [June 24, 2025, 4:42pm UTC](https://forums.developer.nvidia.com/t/unexpected-spinning-behavior-with-fixed-gripper-using-custom-usd-file/331226 "2025-06-24T16:42:25Z")
Isaac Sim Version \[√\] 4.5.0 Operating System \[√\] Windows 11 \[√\] Windows 10 Topic Description Detailed Description Hi everyone, I’m trying to achieve an effect where a gripper remains fixed at a point in space, but ca… --- ## [The Object Keeps Wobbling After Landing on AGV – How to Stabilize It in Isaac Sim?](https://forums.developer.nvidia.com/t/the-object-keeps-wobbling-after-landing-on-agv-how-to-stabilize-it-in-isaac-sim/335154)
**Author:** [@jeff.cy.chuang1](https://forums.developer.nvidia.com/u/jeff.cy.chuang1)\ **Replies:** 1\ **Last updated:** [June 18, 2025, 3:23pm UTC](https://forums.developer.nvidia.com/t/the-object-keeps-wobbling-after-landing-on-agv-how-to-stabilize-it-in-isaac-sim/335154 "2025-06-18T15:23:02Z")
Note: For any Isaac Lab topics, please submit your topic to its GitHub repo (GitHub - isaac-sim/IsaacLab: Unified framework for robot learning built on NVIDIA Isaac Sim) following the instructions provided on Isaac Lab’s… --- ## [Simulate cardboard boxes](https://forums.developer.nvidia.com/t/simulate-cardboard-boxes/288970)
**Author:** [@alexam98](https://forums.developer.nvidia.com/u/alexam98)\ **Replies:** 9\ **Last updated:** [June 11, 2025, 5:18pm UTC](https://forums.developer.nvidia.com/t/simulate-cardboard-boxes/288970 "2025-06-11T17:18:54Z")
Hi, I am trying to simulate the stability of some cardboard boxes like they would be placed in a pallet. In order to make it as realistic as possible I want to treat them as deformable bodys. To implement the deformable… [Next page](https://forums.developer.nvidia.com/tag/physics/290.md?match_all_tags=true&page=1&tags%5B%5D=physics)