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physics-configuration

Configure physics properties for scene objects using USD Physics schemas and PhysX.

1|Updated Jan 22, 2026
Search Tags:#physics#collision#isaac sim#usd physics#rigid body#joint
One-click install
npx skills add https://github.com/kickthemoon0817/simul --skill physics-configuration
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: physics-configuration
Source: https://github.com/kickthemoon0817/simul/tree/main/skills/physics-configuration
Command: npx skills add https://github.com/kickthemoon0817/simul --skill physics-configuration

SYSTEM DOCUMENTATION & REQUIREMENTS

💡 This Skill includes scripts (resource) and references (resource) components.

What problem does it solve?

This skill simplifies the process of adding and configuring physics properties for objects within a 3D scene, enabling realistic physical interactions and simulations.

Core Features & Use Cases

  • Add Physics: Make objects participate in physics simulations by adding rigid body and collision components.
  • Configure Properties: Set mass, friction, restitution, and other physics-related attributes.
  • Create Joints: Define constraints between objects for articulated mechanisms.
  • Use Case: You're building a robot simulation and need to make its arm joints move realistically. This skill allows you to define revolute joints, set their limits, and add drives for motor control.

Quick Start

Use the physics-configuration skill to add a rigid body and collision to the object at '/World/Box'.

Frequently Asked Questions about physics-configuration

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I add rigid body and collision properties to objects in Isaac Sim?▼

You can add rigid body and collision components to scene objects using USD Physics schemas and PhysX to enable dynamic, static, or kinematic physical interactions.

What is the best way to configure revolute joints and drives for a robot arm in USD Physics?▼

Configuring joints in USD Physics involves defining constraints between objects, setting specific limits for revolute joints, and adding drives to achieve realistic motor control.

Can I set mass, friction, and restitution for physics materials in Isaac Sim?▼

Yes, you can configure detailed physics material properties, including mass, friction, and restitution, to define how objects interact physically within the simulation environment.

Does USD Physics support kinematic and static bodies alongside dynamic rigid bodies?▼

USD Physics supports dynamic, static, and kinematic rigid bodies, allowing you to accurately define mass properties and physical behaviors for varied scene object requirements.

When do I need to configure USD Physics schemas for articulated systems?▼

You need USD Physics schemas for articulated systems when defining complex joint configurations and constraints, enabling realistic mechanical movements and motor-driven articulations across connected objects.

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