Feature: FET_003_STANDARD

Property	Value
Feature Name	FET_003_STANDARD
Runtime	STANDARD
Proprietary Techs	None
Latest Version	0.2.0

Description

The Standard Rigid Body Physics feature defines the OpenUSD contract for assets that can be simulated as dynamic rigid bodies using standard UsdPhysics schemas.

An asset that satisfies this feature has at least one valid rigid body, valid collider schema placement, valid mesh-collision usage, authored mass, no invalid rigid-body instancing or transform skew, and collision-only geometry organized so it can be interpreted by OpenUSD-compatible physics pipelines.

Dependency Graph

This feature has no JSON feature dependencies. Runtime-specific FET003 variants such as FET_003_PHYSX and FET_003_NEWTON are sibling feature contracts that carry their own runtime-specific requirement lists.

        flowchart LR
    FET003S["FET_003_STANDARD\n0.1.0, 2"]
    FET003P["FET_003_PHYSX\n0.1.0, 2, 3, 4"]
    FET003N["FET_003_NEWTON\n0.1.0"]
    FET004S["FET_004_STANDARD\n0.2.0"]

    FET004S --> FET003S

    classDef current fill:#90EE90,stroke:#333
    classDef other fill:#fff,stroke:#333
    class FET003S current
    class FET003P,FET003N,FET004S other
    

Use Cases

• Standard OpenUSD rigid-body simulation for props and robot components.

• Baseline rigid-body validation before multibody, grasp, or robot features.

• Asset conversion workflows that author portable UsdPhysics rigid bodies and colliders before adding runtime-specific schemas.

Requirements

Version 0.1.0

Details

Used in Profiles

This version is used in the following profiles:

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

• Robot Body Neutral Profile (v1.0.0) - Provides the original Standard rigid-body gate for neutral robot bodies.

Feature Dependencies

None.

Requirement List

• Capability: Physics Bodies/Rigid Bodies

  • Requirements:

    • Collider-Capability

      • RB.COL.001 | Version 0.1.0

      • Rule | Implementation

    • Mesh-Collision-API

      • RB.COL.002 | Version 0.1.0

      • Rule | Implementation

    • Collider-Mesh

      • RB.COL.003 | 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

      • Rule | Implementation

    • Rigid-Body-Schema-Application

      • RB.003 | 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-Mass

      • RB.007 | Version 0.1.0

      • Rule | Implementation

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

      • RB.009 | Version 0.1.0

      • Rule | Implementation

    • Invisible-Collision-Mesh-Has-Purpose

      • RB.010 | Version 0.1.0

      • Rule | Implementation

Version 0.2.0

Details

Used in Profiles

This version is used in the following profiles:

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

• Robotics Prop Profile (v3.0.0) - Uses the consolidated Standard rigid-body feature gate.

• Robot Body Neutral Profile (v1.1.0) - Uses the Standard rigid-body contract after RB.006 was removed.

• Robot Body Profile (v3.0.0) - Uses the consolidated Standard rigid-body feature gate.

Feature Dependencies

None.

Changes From Version 0.1.0

Version 0.2.0 keeps all Version 0.1.0 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.

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 Standard Rigid Body Physics requirement IDs listed in the selected FET_003_STANDARD manifest.

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

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.
FET_003_STANDARD@0.1.0	FET_003_NEWTON@0.1.0	nv_core/cip_specs/asset_handler_modules/neutral_to_newton	Done	Computes mesh extents and applies Newton mesh-collision schemas (newton:contactGap) for the prop Newton rigid-body path.
FET_003_STANDARD@0.1.0	FET_003_MUJOCO@0.1.0	nv_core/cip_specs/asset_handler_modules/neutral_to_mujoco	Done	Computes mesh extents and applies MuJoCo mesh-collision schemas (convexHull) for the prop MuJoCo rigid-body path.