Feature: FET_037_ISAAC

Property	Value
Feature Name	FET_037_ISAAC
Runtime	ISAAC
Proprietary Techs	None
Latest Version	0.1.0

Description

Defines the simulation-readiness contract for joint sensor prims on robot assets. A joint sensor prim must also have PhysicsArticulationRootAPI applied so that the articulation is correctly initialized for joint state data output.

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 joint sensor wiring requirements at asset authoring time.

• Isaac Sim runtime benchmark tests (joint_sensor_data) verify live joint state data output.

Requirements

Version 0.1.0

Details

Used in Profiles

• Sensor-Joint v1.0.0 (required)

Feature Dependencies

None.

Requirement List

• Capability: Physics Bodies/Physics Sensors

Requirement	Requirement Doc	Rule
PS.002	PS.002	Implementation

Pipelines

Source file type:

• .usd, .usda, .usdc

Validation or runtime pipeline:

• simready-validate verifies FET_037_ISAAC requirements at asset authoring time.

• simready-benchmark --features FET_037_ISAAC runs runtime joint sensor data verification in Isaac Sim.

Samples

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

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

Benchmarks

• joint_sensor_data — verifies joint sensor reports valid joint positions after drive target movement.

Adapters

None.