Feature: ID:003 - RBD Physics - Base

Description

Support for rigid body dynamics (RBD). This feature enables simulation of physically accurate motion and collisions for props and dynamic assets. It is suitable for testing, validation, or reference applications where basic physical interactions are required.

Neutral Format

Version 0.1.0

Details

Property	Value
Internal ID	FET003_BASE_NEUTRAL

Used in Profiles

This version is used in the following profiles:

• Prop Robotics Neutral Profile (v0.1.0) - Used as the core physics feature for basic rigid body dynamics

Requirements

• Capability: Physics_Bodies/Physics_Rigid_Bodies

  • Requirements:

    • Collider-Capability

      • RB.COL.001 | Version 0.1.0

      • Rule | Implementation

    • Collider-Non-Uniform-Scale

      • RB.COL.004 | Version 0.1.0

      • Rule | Implementation

    • Rigid-Body-Capability

      • RB.001 | Version 0.1.0

    • Rigid-Body-Mass

      • RB.007 | Version 0.1.0

      • Rule | Implementation

    • Rigid-Body-No-Instancing

      • RB.005 | Version 0.1.0

      • Rule | Implementation

    • Rigid-Body-No-Nesting

      • RB.006 | Version 0.1.0

      • Rule | Implementation

    • Rigid-Body-Schema-Application

      • RB.003 | Version 0.1.0

      • Rule | Implementation

    • Rigid-Body-Schema-No-Skew-Matrix

      • RB.009 | Version 0.1.0

      • Rule | Implementation

    • Collider-Mesh

      • RB.COL.003 | Version 0.1.0

      • Rule | Implementation

    • Mesh-Collision-API

      • RB.COL.002 | Version 0.1.0

      • Rule | Implementation

    • Invisible-Collision-Mesh-Has-Purpose

      • RB.010 | Version 0.1.0

      • Rule | Implementation

• Capability: Core/Atomic_Asset

  • Requirements

    • Anchored-Asset-Paths

      • AA.001 | Version 0.1.0

      • Rule | Implementation

    • Supported-File-Type

      • AA.002 | Version 0.1.0

      • Rule | Implementation

• Capability: Core/Units

  • Requirements

    • Kilograms-Per-Unit

      • UN.003 | Version 0.1.0

      • Rule | Implementation

    • Meters-Per-Unit

      • UN.002 | Version 0.1.0

      • Rule | Implementation

    • Timecodes-Per-Second

      • UN.005 | Version 0.1.0

      • Rule | Implementation

    • Upaxis

      • UN.001 | Version 0.1.0

      • Rule | Implementation

• Capability: Visualization/Geometry

  • Requirements

    • At-Least-One-Imageable-Geometry

      • VG.001 | Version 0.1.0

      • Rule | Implementation

    • Proposed UsdGeom-Mesh-Triangulation

      • VG.021 | Version 0.1.0

      • Description

        • Error should be thrown if mesh is NOT triangles. This has a can throw off automatic convex-hull generation if mesh is composed of NGONS.

    • UsdGeom-Mesh-Manifold

      • VG.007 | Version 0.1.0

      • Rule | Implementation

• Capability: Visualization/Materials

  • Requirements

    • Material-Bind-Scope

      • VM.BIND.001 | Version 0.1.0

    • Material-Preview-Surface

      • VM.PS.001 | Version 0.1.0

Pipelines Supported for this Feature

Source file type:

• .blend

  • Via Blender SimReady Add-ons

• .mjcf

  • Via Blender SimReady Add-ons + MJCF2USD Tool

• .step

  • Via Blender SimReady Add-ons + CAD Converter

Unibody | Rigidbody Samples

• simready_usd/sm_obs_small_sledge_hammer_a01_01.usd

• simready_usd/sm_alcohol_a01_01.usd

• simready_usd/sm_apple_a01_01.usd

• simready_usd/sm_obs_orange_a01_01.usd

• simready_usd/sm_coffee_cup_grasp_a01_01.usd

Test Process

None

NVIDIA Physx Format

Version 0.1.0

Details

Property	Value
Internal ID	FET003_BASE_PHYSX
Proprietary Techs	Physx

Used in Profiles

This version is used in the following profiles:

• Prop Robotics Physx Profile (v0.1.0) - Used as the core physics feature with advanced PhysX rigid body dynamics

Requirements

Property	Value
Dependency	ID:003 - RBD Physics - Base - Neutral Format - v0.1.0

• Capability: Physics-Bodies/Physics-Rigid-Bodies

  • Requirements:

    • PhysX-Collider-Capability

      • PHYSX.COL.001 | Version 0.1.0

Pipelines Supported for this Feature

None; Neutral Format is acceptable.

Unibody | Rigidbody Samples

• simready_physx_usd/sm_obs_small_sledge_hammer_a01_01.usd

• simready_physx_usd/sm_alcohol_a01_01.usd

• simready_physx_usd/sm_apple_a01_01.usd

• simready_physx_usd/sm_obs_orange_a01_01.usd

• simready_physx_usd/sm_coffee_cup_grasp_a01_01.usd

Test Process

• Obtain Isaac Sim 5 (release build)

• Launch Isaacsim.bat

  • Launch isaacsim.bat

  • In Isaac Sim, open this usd: test stage

    • Can be manually located here: nv_core/testing_tools/testing_data/runtime_physics_tests.usda

• Activate correct prim (right click + activate)

  • Drop_On_Ground_Plane

  • Drop_On_Tilted_Plane

• Click on empty xform

  • /World/Drop_On_Tilted_Plane/StartPoint

• Right click, add reference to (path), select Sample above.

  • sample_content/common_assets/props_general/obs_small_sledge_hammer_a01/simready_physx_usd/sm_obs_small_sledge_hammer_a01_01.usd

• Hit play button in UI.

  • Press play to start sim

• Expected result:

  • Item should fall down and stop and settle after 5 seconds.

  • Video Examples:

    • Drop test results video link

    • Slope test results video link