Feature: `FET_004_NEWTON`#

Property	Value
Feature Name	`FET_004_NEWTON`
Runtime	`NEWTON`
Proprietary Techs	`Newton`
Latest Version	`0.1.0`

Description#

The Newton Multi-Body Physics feature defines the Newton runtime contract for assets with multiple intended rigid bodies connected by joints and articulations. It is the Newton expansion of Simulate Multi-Body Physics: the multibody joint and articulation requirements are the same, while the Newton-specific rigid-body and collision behavior is provided by its FET_003_NEWTON@0.1.0 dependency.

Newton Authoring Notes#

Editorial guidance (does not change the requirement IDs below):

This feature covers the multibody topology (joints, articulation, link masses). Newton collision schemas come from FET_003_NEWTON@0.1.0.
Newton joint tuning (NewtonJointAPI / newton:armature …), driven-joint actuation (PhysicsDriveAPI or NewtonActuator), and articulation-root self-collision (NewtonArticulationRootAPI / newton:selfCollisionEnabled) are the domain of the Newton driven-joint feature FET_022_NEWTON and base-articulation feature FET_024_NEWTON; author them there when a robot/gripper profile pins those features.

Dependency Graph#

        flowchart LR
    FET003N["FET_003_NEWTON\n0.1.0"]
    FET004N1["FET_004_NEWTON\n0.1.0"]

    FET004N1 --> FET003N

    classDef current fill:#90EE90,stroke:#333
    classDef other fill:#fff,stroke:#333
    class FET004N1 current
    class FET003N other

Use Cases#

Newton runtime multibody simulation for props and robot-adjacent assets.
Nested link structures joined by Newton-compatible joints and articulations.
Runtime payload variants where Newton is selectable alongside PhysX.

Requirements#

Version 0.1.0#

Details

Used in Profiles#

Robotics-Prop (optional).

Feature Dependencies#

Property	Value
Dependency	Rigid Body Physics Newton (`FET_003_NEWTON@0.1.0`)

The Newton collider requirements (NEWTON.COL.001, NEWTON.COL.002) and the Newton rigid-body base are provided by the FET_003_NEWTON@0.1.0 dependency, so they are not re-listed here.

Requirement List#

Capability	Requirements
Joints	`JT.001`, `JT.002`, `JT.003`
Joints (Articulation)	`JT.ART.002`, `JT.ART.003`, `JT.ART.004`
Physics Rigid Bodies	`RB.MB.001`, `RB.011`, `RB.012`

Pipelines#

Source file type:

.usd / .usda
- Via USD authoring tools that emit Newton runtime physics payload layers.

Validation or runtime pipeline:

SimReady validation - verifies the FET_004_NEWTON@0.1.0 manifest.

Samples#

sample_content/common_assets/props_general/obs_electricians_large_tool_box_a01/simready_usd/sm_obs_electricians_large_tool_box_a01_01.usd - multibody prop (5 rigid bodies, 4 revolute joints); select the Newton variant.

Benchmarks#

FET004 Multibody
- joint_movement

Adapters#

From Feature	To Feature	Adapter	Status	Notes
`FET_004_STANDARD@0.1.0`	`FET_004_NEWTON@0.1.0`	`nv_core/cip_specs/asset_handler_modules/neutral_to_newton`	Done	Applies Newton mesh-collision schemas (`newton:contactGap`) on existing collider prims.

Feature: FET_004_NEWTON#