Feature: FET_005_STANDARD#

Property

Value

Feature Name

FET_005_STANDARD

Runtime

STANDARD

Proprietary Techs

None

Latest Version

0.1.0

Description#

This feature defines the Standard OpenUSD grasp contract for prop assets. An asset that satisfies this feature has physics material bindings on colliders and at least one authored grasp vector line that identifies a plausible robotic gripper grasp region.

Static validation proves the authored physics material binding and grasp-line structure. SimReady-quality grasp authoring also requires visual or runtime review to confirm that the line intersects the intended graspable region and is not merely an arbitrary validator token.

Dependency Graph#

This feature has no dependencies and no other features depend on it directly.

Use Cases#

Products or workflows that consume this feature:

  • Isaac Sim robotic grasp workflows

  • MEGA

  • Lightwheel SOW1

  • SimReady prop profile validation

Requirements#

Version 0.1.0#

Details

Used in Profiles#

This version is used in the following profiles:

Feature Dependencies#

None.

Requirement List#

Pipelines#

Source file type:

  • .usd, .usda, .usdc

    • Author or repair grasp vectors as UsdGeom.BasisCurves prims under the default prim.

Validation or runtime pipeline:

  • SimReady validation - verifies PMT.001 and the static GSP.001 BasisCurves contract.

  • FET005 grasp-and-lift benchmark - provides runtime evidence that declared grasp vectors are physically achievable.

  • simready-foundation-conform-fet-005-standard - vision-guided repair workflow for grasp vector authoring.

Samples#

Benchmarks#

Adapters#

None.