How can I build a plugin that simulate the magnetic force and torque in IssacSim

[zefew6]

In contrast to the extensively studied rigid-body dynamics in robotics, magnetic dynamics remains a less explored yet highly promising field. Its primary applications lie in the medical domain, such as in capsule endoscopy. However, practical progress is challenged by the complex, highly nonlinear nature of magnetic forces and torques, combined with the significant non-rigidity of the human gastrointestinal tract. These factors render existing model-based control and localization methods inadequate for real-world application.

Reinforcement learning (RL) presents a compelling alternative, with its ability to learn optimal policies through environmental interaction and enhance real-time control performance. Yet, the development of RL-based solutions is severely hampered by the absence of simulation plugins capable of modeling magnetic fields, forces, torques, and non-rigid intestinal environments. This limitation currently restricts researchers from actively exploring this promising direction.

Therefore, I would like to consult my colleagues in the robotics community: What feasible pathways exist to incorporate these capabilities? Specifically, how might one implement simulations for magnetic fields, forces, and torques within IsaacSim?