Feature: FET_004_STANDARD

Property	Value
Feature Name	FET_004_STANDARD
Runtime	STANDARD
Proprietary Techs	None
Latest Version	0.2.0

Description

The Standard Multi-Body Physics feature defines the OpenUSD contract for assets that intentionally contain more than one rigid body connected by joints or articulation structure.

An asset that satisfies this feature has multiple intended rigid bodies, valid joint relationships, a valid articulation-root arrangement, and no static or kinematic articulation-root body violations.

Dependency Graph

        flowchart LR
    FET003S1["FET_003_STANDARD\n0.1.0"]
    FET003S2["FET_003_STANDARD\n0.2.0"]
    FET004S1["FET_004_STANDARD\n0.1.0"]
    FET004S2["FET_004_STANDARD\n0.2.0"]
    FET022S["FET_022_STANDARD\n0.2.0"]

    FET004S1 --> FET003S1
    FET004S2 --> FET003S2
    FET022S --> FET004S2

    classDef current fill:#90EE90,stroke:#333
    classDef other fill:#fff,stroke:#333
    class FET004S1,FET004S2 current
    class FET003S1,FET003S2,FET022S other
    

Use Cases

• Standard OpenUSD multibody props and robot link structures.

• Baseline multibody validation before runtime-specific PhysX or Newton variants.

• Assets with existing rigid-body parts, joints, or articulation intent.

Requirements

Version 0.1.0

Details

Used in Profiles

• Prop Robotics Neutral Profile (v1.0.0, v2.0.0, v2.0.1) - Multibody prop physics when the prop has more than one intended rigid body.

• Robot Body Neutral Profile (v1.0.0) - Neutral robot multibody physics.

Feature Dependencies

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

Requirement List

Capability	Requirements
Physics Joints	JT.001, JT.002, JT.003, JT.ART.002, JT.ART.003, JT.ART.004
Physics Rigid Bodies	RB.MB.001

Version 0.2.0

Details

Used in Profiles

• Prop Robotics Neutral Profile (v2.1.0) - Standard multibody physics with the updated FET003 dependency.

• Robot Body Neutral Profile (v1.1.0) - Standard multibody physics with the updated FET003 dependency.

• Robotics Prop Profile (v3.0.0) - Optional consolidated Standard multibody feature.

• Robot Body Profile (v3.0.0) - Optional consolidated Standard multibody feature.

Feature Dependencies

Property	Value
Dependency	Rigid Body Physics Standard (FET_003_STANDARD@0.2.0)

Changes From Version 0.1.0

Version 0.2.0 keeps the Version 0.1.0 requirement list and updates the dependency to FET_003_STANDARD@0.2.0.

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 selected FET_004_STANDARD manifest.

Samples

• sample_content/common_assets/props_general/obs_workbench_tool_a01/simready_usd/sm_obs_workbench_tool_a01_01.usda

• sample_content/common_assets/props_general/obs_electricians_large_tool_box_a01/simready_usd/sm_obs_electricians_large_tool_box_a01_01.usd

• sample_content/common_assets/props_general/obs_joystick_a01/simready_usd/sm_obs_joystick_a01_01.usd

• sample_content/common_assets/props_general/obs_lamp_revolute_a01/simready_usd/sm_obs_lamp_revolute_a01_01.usda

Benchmarks

• FET004 Multibody

  • joint_movement

Adapters

From Feature	To Feature	Adapter	Status	Notes
FET_004_STANDARD@0.1.0	FET_004_PHYSX@0.1.0	nv_core/cip_specs/asset_handler_modules/neutral_to_physx	Done	Sets PhysX SDF collider approximation on existing collider prims.
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.
FET_004_STANDARD@0.1.0	FET_004_MUJOCO@0.1.0	nv_core/cip_specs/asset_handler_modules/neutral_to_mujoco	Done	Applies MuJoCo mesh-collision schemas (convexHull) on existing collider prims.