Feature: ID:022 - Driven - Joints

Description

Driven joints enable physics-driven joint simulation for articulated bodies and robotic mechanisms, with proper drive/state configuration, PhysX drive or mimic APIs, and robot-schema integration for Isaac Sim.

Neutral Format

Version 0.1.0

Details

Property	Value
Internal ID	FET022_DRIVEN_JOINTS_NEUTRAL

Used in Profiles

This version is used in the following profiles:

• (None documented.)

Requirements

Property	Value
Dependency	ID:004 - Simulate Multi-Body Physics - Base - Neutral Format - v0.1.0 (FET004_BASE_NEUTRAL)

• Capability: Physics Driven Joints

  • Requirements:

    • physics-drive-and-joint-state

      • DJ.001 | Version 0.1.0

      • Rule | Implementation

    • joint-has-joint-state-api

      • DJ.002 | Version 0.1.0

      • Rule | Implementation

    • joint-has-correct-transform-and-state

      • DJ.003 | Version 0.1.0

      • Rule | Implementation

    • no-articulation-loops

      • DJ.011 | Version 0.1.0

      • Rule | Implementation

Pipelines Supported for this Feature

None.

Test Process

None.

NVIDIA Physx Format

Version 0.1.0

Details

Property	Value
Internal ID	FET022_DRIVEN_JOINTS_PHYSX
Proprietary Techs	Physx

Used in Profiles

This version is used in the following profiles:

• (None documented.)

Requirements

Property	Value
Dependency	Robot PhysX Format (FET004_ROBOT_PHYSX) - v0.1.0

• Capability: Physics Driven Joints

  • Requirements:

    • physics-drive-and-joint-state

      • DJ.001 | Version 0.1.0

      • Rule | Implementation

    • joint-has-joint-state-api

      • DJ.002 | Version 0.1.0

      • Rule | Implementation

    • joint-has-correct-transform-and-state

      • DJ.003 | Version 0.1.0

      • Rule | Implementation

    • physics-joint-has-drive-or-mimic-api

      • DJ.004 | Version 0.1.0

      • Rule | Implementation

    • physics-joint-max-velocity

      • DJ.005 | Version 0.1.0

      • Rule | Implementation

    • drive-joint-value-reasonable

      • DJ.006 | Version 0.1.0

      • Rule | Implementation

    • mimic-api-check

      • DJ.007 | Version 0.1.0

      • Rule | Implementation

    • no-articulation-loops

      • DJ.011 | Version 0.1.0

      • Rule | Implementation

Pipelines Supported for this Feature

None.

Test Process

None.

Isaac Format

Version 0.1.0

Details

Property	Value
Internal ID	FET022_DRIVEN_JOINTS_ISAAC
Proprietary Techs	Isaac Sim

Used in Profiles

This version is used in the following profiles:

• (None documented.)

Requirements

Property	Value
Dependency	ID:022 - Driven Joints - NVIDIA Physx Format - v0.1.0 (FET022_DRIVEN_JOINTS_PHYSX)

• Capability: Physics Driven Joints

  • Requirements:

    • robot-schema-joint-exist

      • DJ.008 | Version 0.1.0

      • Rule | Implementation

    • robot-schema-links-exist

      • DJ.009 | Version 0.1.0

      • Rule | Implementation

    • check-robot-relationships

      • DJ.010 | Version 0.1.0

      • Rule | Implementation

Pipelines Supported for this Feature

None.

Test Process

None.