Feature: FET_004_ROBOT_PHYSX#

Property

Value

Feature Name

FET_004_ROBOT_PHYSX

Runtime

ROBOT_PHYSX

Proprietary Techs

PhysX

Latest Version

0.4.0

Description#

The Robot PhysX Multi-Body Physics feature is the legacy robot-specific PhysX multibody contract. It bundles rigid-body, joint, articulation, and PhysX collider requirements in one feature and intentionally does not require RB.COL.001 because robot assets may use nested collision authoring patterns.

Newer profile versions should prefer FET_004_PHYSX@0.4.0 plus the selected FET003 PhysX gate when the robot-specific collider exemption is not required.

Dependency Graph#

This feature has no JSON feature dependencies. It carries an explicit robot-specific requirement list.

        flowchart LR
    FET004RP["FET_004_ROBOT_PHYSX\n0.1.0, 2, 3, 4"]
    FET022P["FET_022_PHYSX\n0.1.0, 2"]

    FET022P --> FET004RP

    classDef current fill:#90EE90,stroke:#333
    classDef other fill:#fff,stroke:#333
    class FET004RP current
    class FET022P other

Use Cases#

  • Legacy Robot-Body-Runnable and Robot-Body-Isaac profiles that need the robot PhysX collider exemption.

  • Robot assets with nested collision opinions that base RB.COL.001 would reject.

  • PhysX robot link and joint topology before driven-joint or articulation gates.

Requirements#

Version 0.1.0#

Details

Used in Profiles#

  • None documented.

Feature Dependencies#

None.

Requirement List#

Capability

Requirements

Physics Rigid Bodies

RB.COL.002, RB.COL.003, RB.COL.004, RB.001, RB.003, RB.005, RB.006, RB.007, RB.009, RB.010, RB.MB.001, RB.011, RB.012

Physics Joints

JT.001, JT.002, JT.003, JT.ART.002, JT.ART.003, JT.ART.004

Version 0.2.0#

Details

Used in Profiles#

Feature Dependencies#

None.

Changes From Version 0.1.0#

Version 0.2.0 removes RB.COL.002 and adds PHYSX.COL.001 and PHYSX.COL.002.

Version 0.3.0#

Details

Used in Profiles#

  • None documented.

Feature Dependencies#

None.

Changes From Version 0.2.0#

Version 0.3.0 removes RB.006.

Version 0.4.0#

Details

Used in Profiles#

Feature Dependencies#

None.

Changes From Version 0.3.0#

Version 0.4.0 keeps the Version 0.3.0 requirement list and represents the latest legacy Robot PhysX multibody contract.

Pipelines#

Source file type:

  • .urdf / .mjcf

    • Via robot conversion workflows that preserve robot link structure.

Validation or runtime pipeline:

  • SimReady validation - verifies the selected FET_004_ROBOT_PHYSX manifest.

  • SimReady Benchmark FET004 Multibody - verifies jointed robot behavior in a PhysX scene.

Samples#

Benchmarks#

Adapters#

From Feature

To Feature

Adapter

Status

Notes

FET_003_STANDARD@0.1.0

FET_004_ROBOT_PHYSX@0.2.0

nv_core/cip_specs/asset_handler_modules/neutral_to_physx

Done

Computes mesh extents for the legacy robot PhysX path.