# Physics Bodies

Capabilities in this category enable soft or rigid body simulation with collisions and constraints.

```{toctree}
:maxdepth: 1

Base Articulation <base_articulation/capability-base-articulation>
Rigid Bodies and Colliders <physics_rigid_bodies/capability-physics_rigid_bodies>
Collider Approximations <physics_colliders/capability-collider_approximations>
Joints and Articulations <physics_joints/capability-physics_joints>
Driven Joints <physics_driven_joints/capability-physics_driven_joints>
Physics Materials <physics_materials/capability-physics_materials>
Graspable Vectors <physics_graspable/capability-physics_graspable>
```
