Physics Simulation in Isaac Sim

Purpose

Configure PhysicsScene and per-prim rigid bodies, collisions, materials, joint drives, solver selection, and physics sensors with worked examples.

Prerequisites

• For standalone physics: a completed source/libraries build or matching installed wheels/SDKs; most unit and headless physics tests need no GPU.
• For Kit settings, extension auto-switching, timeline, or viewport work: built Isaac Sim and the shell environment from isaac-sim-orchestrator.

Limitations

• Targets Isaac Sim 6 / Kit 110 unless a section states otherwise.
• Does not replace official NVIDIA documentation for unsupported edge cases.

Troubleshooting