Feature: FET_003_PHYSX

Property	Value
Feature Name	FET_003_PHYSX
Runtime	PHYSX
Proprietary Techs	PhysX
Latest Version	0.4.0

Description

The PhysX Rigid Body Physics feature defines the PhysX runtime contract for assets that can be simulated as dynamic rigid bodies with PhysX-compatible colliders.

An asset that satisfies this feature carries the rigid-body requirements needed for stable dynamics and the PhysX collider rules that allow valid PhysX mesh collision, including merged mesh collider patterns that the Standard OpenUSD rules do not allow.

Dependency Graph

Version 0.1.0 depends on FET_003_STANDARD@0.1.0. Versions 2 through 4 carry explicit runtime-specific requirement lists so PhysX collider requirements can replace the Standard collider placement rules.

        flowchart LR
    FET003S1["FET_003_STANDARD\n0.1.0"]
    FET003P1["FET_003_PHYSX\n0.1.0"]
    FET003P4["FET_003_PHYSX\n0.4.0"]
    FET004P["FET_004_PHYSX\n0.4.0"]
    FET100["FET_100_ISAAC\n0.1.0, 2, 3, 4"]

    FET003P1 --> FET003S1
    FET004P --> FET003P4
    FET100 --> FET003P4

    classDef current fill:#90EE90,stroke:#333
    classDef other fill:#fff,stroke:#333
    class FET003P1,FET003P4 current
    class FET003S1,FET004P,FET100 other
    

Use Cases

• PhysX rigid-body simulation for props and robot bodies.

• Isaac Sim and PhysX runtime tests that require collider behavior beyond the Standard OpenUSD collider placement rules.

• Physics benchmark runs that drop, collide, settle, and slide assets in a PhysX scene.

Requirements

Version 0.1.0

Details

Used in Profiles

This version is used in the following profiles:

• Prop Robotics PhysX Profile (v1.0.0, v2.0.0, v2.0.1) - Provides the original PhysX rigid-body gate for prop assets.

• Prop Robotics Isaac Profile (v1.0.0, v1.0.1) - Provides the original PhysX rigid-body gate under Isaac composition.

Feature Dependencies

Property	Value
Dependency	Rigid Body Physics Standard (FET_003_STANDARD@0.1.0)

Requirement List

• Capability: Physics Bodies/Colliders

  • Requirements:

    • Collider-Approximation-SDF

      • COL.001 | Version 0.1.0

Version 0.2.0

Details

Used in Profiles

This version is used in the following profiles:

• Robot Body Runnable Profile (v2.0.0) - Provides the explicit PhysX rigid-body gate for runnable robot bodies.

Feature Dependencies

None.

Changes From Version 0.1.0

Version 0.2.0 replaces the Version 0.1.0 dependency-plus-COL.001 contract with an explicit PhysX rigid-body requirement list:

Change	Requirement	Reason
Removed	FET_003_STANDARD@0.1.0 dependency	The PhysX variant now carries the full list so runtime-specific collider rules can replace Standard collider rules.
Removed	COL.001	Replaced by PhysX collider requirements.
Added	RB.COL.003	Keeps collider mesh validation.
Added	RB.COL.004	Keeps collider scale validation.
Added	RB.001	Requires at least one rigid body.
Added	RB.003	Requires valid rigid-body API placement.
Added	RB.005	Rejects invalid rigid-body instancing.
Added	RB.006	Keeps the original nested rigid-body check for this version.
Added	RB.007	Requires mass authoring.
Added	RB.009	Rejects skewed rigid-body transforms.
Added	RB.010	Requires collision-only invisible meshes to use guide purpose.
Added	PHYSX.COL.001	Allows Gprim colliders and valid PhysX mesh-merge Xform colliders.
Added	PHYSX.COL.002	Allows mesh collision on meshes or valid PhysX mesh-merge prims.

Version 0.3.0

Details

Used in Profiles

This version is used in the following profiles:

• Prop Robotics PhysX Profile (v2.1.0) - Uses the PhysX rigid-body contract after RB.006 was removed.

• Prop Robotics Isaac Profile (v1.1.0) - Uses the PhysX rigid-body contract after RB.006 was removed.

Feature Dependencies

None.

Changes From Version 0.2.0

Version 0.3.0 keeps all Version 0.2.0 requirements except:

Change	Requirement	Reason
Removed	RB.006	Nested rigid-body behavior moved toward multibody and robot-specific validation instead of the base rigid-body gate.

Version 0.4.0

Details

Used in Profiles

This version is used in the following profiles:

• Robot Body Runnable Profile (v2.1.0) - Uses the latest PhysX rigid-body gate before PhysX multibody validation.

• Robot Body Isaac Profile (v1.1.0) - Uses the latest PhysX rigid-body gate before Isaac robot composition.

• Prop Robotics Isaac Profile (v1.2.0) - Uses the latest PhysX rigid-body gate under the standalone-transformer Isaac composition path.

• Robot Body Profile (v3.0.0) - Used through optional FET_004_PHYSX@0.4.0 and Isaac composition dependencies.

Feature Dependencies

None.

Changes From Version 0.3.0

Version 0.4.0 keeps the Version 0.3.0 requirement list and clarifies that this is the latest unibody PhysX rigid-body contract. Multibody joint and articulation work belongs to FET004 runtime variants.

Pipelines

Source file type:

• .blend

  • Via Blender SimReady Add-ons

• .mjcf

  • Via Blender SimReady Add-ons and MJCF2USD Tool

• .step

  • Via Blender SimReady Add-ons and CAD Converter

Validation or runtime pipeline:

• SimReady validation - verifies the PhysX Rigid Body Physics requirement IDs listed in the selected FET_003_PHYSX manifest.

• SimReady Benchmark FET003 Physics - verifies rigid-body drop, collision, and settling behavior in a PhysX runtime scene.

Samples

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

• sample_content/common_assets/props_general/alcohol_a01/simready_usd/sm_alcohol_a01_01.usd

• sample_content/common_assets/props_general/apple_a01/simready_usd/sm_apple_a01_01.usd

• sample_content/common_assets/props_general/obs_orange_a01/simready_usd/sm_obs_orange_a01_01.usd

• sample_content/common_assets/props_general/coffee_cup_grasp_a01/simready_usd/sm_coffee_cup_grasp_a01_01.usd

Benchmarks

• Suite: FET003 Physics

  • Tests:

    • ground_drop

    • slope_drop

Adapters

From Feature	To Feature	Adapter	Status	Notes
FET_003_STANDARD@0.1.0	FET_003_PHYSX@0.1.0	nv_core/cip_specs/asset_handler_modules/neutral_to_physx	Done	Computes mesh extents for the original prop PhysX rigid-body path.