# Creators


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## Omniverse

To comply with this capability when creating physics joints in Omniverse, see:

- [Omniverse Physics Joints](https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#joints)

For a more comprehensive guide, see:

- [Rig Closed Loop Structures](https://docs.isaacsim.omniverse.nvidia.com/4.5.0/robot_setup/rig_closed_loop_structures.html)




