Feature: FET_034_ISAAC

Property	Value
Feature Name	FET_034_ISAAC
Runtime	ISAAC
Proprietary Techs	None
Latest Version	0.1.0

Description

Defines the simulation-readiness contract for IMU sensor prims on robot assets. An IMU sensor prim must be parented under a prim with PhysicsRigidBodyAPI so that the physics engine communicates forces and velocities to the sensor.

Dependency Graph

This feature has no dependencies and no other features depend on it directly.

Use Cases

Products or workflows that consume this feature:

• SimReady validation verifies IMU sensor wiring requirements at asset authoring time.

• Isaac Sim runtime benchmark tests (imu_sensor_data) verify live IMU sensor data output.

Requirements

Version 0.1.0

Details

Used in Profiles

• Sensor-IMU v1.0.0 (required)

Feature Dependencies

None.

Requirement List

• Capability: Physics Bodies/Physics Sensors

Requirement	Requirement Doc	Rule
PS.001	PS.001	Implementation

Pipelines

Source file type:

• .usd, .usda, .usdc

Validation or runtime pipeline:

• simready-validate verifies FET_034_ISAAC requirements at asset authoring time.

• simready-benchmark --features FET_034_ISAAC runs runtime IMU sensor data verification in Isaac Sim.

Samples

• sample_content/common_assets/sensors/physics_sensors/IMUSensorCheckerPass.usda

• sample_content/common_assets/sensors_fails/physics_sensors/IMUSensorCheckerFail.usda

Benchmarks

• imu_sensor_data — verifies IMU sensor produces non-zero angular velocity and linear acceleration during physics simulation.

Adapters

None.