verify-robot-physics-attribute-source-layer

Code	RC.005
Compatibility	other
Tags	🔑

Summary

Validates that physics attributes are authored in the physics layer.

Why

For modularized USD structure, the physics edits should be limited to the physics layer, so they can be added or removed from the USD depending on the use cases.

Example

In the base layer (Robot.usd), define the links and their basic properties.

In the physics layer (physics/physics.usd), add physics attributes like physics:centerOfMass or physics:mass.

For instance, a joint should only exist the physics layer as its a constraint set on rigid bodies, which are physics layer only attributes.

How to comply

• Make sure all the physics related attributes (colliders, rigid body, joints) are in the physics layer, as a delta from the base layer

Note

A layer is recognized as a physics layer when its identifier matches _physics.usd (legacy) or physics.usda (Asset Transformer naming). One attribute is exempt: physics:collisionEnabled on a prim with PhysicsCollisionAPI may live in the base layer, because the transformer deliberately keeps CollisionAPI in base.usda.