Feature: FET_021_ISAAC#

Property

Value

Feature Name

FET_021_ISAAC

Runtime

ISAAC

Proprietary Techs

Isaac Sim

Latest Version

0.3.0

Description#

This feature defines the Isaac robot-core identity contract for robot assets. An asset that satisfies this feature has compliant robot naming, robot schema metadata and relationships on the default prim, an explicit robot type, and root-joint pinning behavior that matches that robot type.

Version 0.3.0 is identity-only. Isaac package cleanliness, thumbnails, and physics-layer source placement live in FET_000_ISAAC. Earlier versions bundled those packaging requirements into this feature.

Dependency Graph#

        flowchart LR
    FET000I["FET_000_ISAAC\n0.1.0"]
    FET021I1["FET_021_ISAAC\n0.1.0"]
    FET021I2["FET_021_ISAAC\n0.2.0"]
    FET021I3["FET_021_ISAAC\n0.3.0"]

    classDef current fill:#90EE90,stroke:#333
    classDef other fill:#fff,stroke:#333
    class FET021I3 current
    class FET000I,FET021I1,FET021I2 other

Version 0.3.0 has no feature dependencies. Pair it with FET_000_ISAAC@0.1.0 when Isaac packaging is also required.

Use Cases#

Products or workflows that consume this feature:

  • Robot-Body-Isaac profile validation for robot identity and schema.

  • Robot-Body-Runnable profile validation for robot naming, schema, type, and root-joint policy.

  • Robot conversion workflows that preserve robot link and joint topology.

Requirements#

Version 0.1.0#

Details

Used in Profiles#

This version is not currently used by profile TOML entries. It is retained as the older Isaac robot-core contract that bundled packaging and schema checks.

Feature Dependencies#

None.

Requirement List#

Version 0.2.0#

Details

Used in Profiles#

This version remains pinned by older Robot-Body-Isaac profile versions that have not yet opted into the packaging/identity split.

Feature Dependencies#

None. Packaging and identity requirements are listed explicitly on this version.

Changes From Version 0.1.0#

Change

Requirement

Reason

Added

RC.008

Robot type is required for robot runtime behavior and root-joint policy.

Added

RC.009

Root-joint pinning must match the selected robot type.

Requirement List#

  • Capability: Isaac Sim/Robot Core

    • Requirements:

      • RC.001, RC.003, RC.004, RC.005, RC.006, RC.007, RC.008, RC.009

Version 0.3.0#

Details

Used in Profiles#

This version is used in the following profiles:

Feature Dependencies#

None.

Changes From Version 0.2.0#

Version 0.3.0 keeps only the robot-identity requirements. Packaging requirements move to FET_000_ISAAC@0.1.0:

Change

Requirement

Reason

Removed

RC.001

Clean-folder packaging moved to FET_000_ISAAC.

Removed

RC.004

Thumbnail packaging moved to FET_000_ISAAC.

Removed

RC.005

Physics-attribute source-layer packaging moved to FET_000_ISAAC.

Removed

RC.006

Physics-schema source-layer packaging moved to FET_000_ISAAC.

Requirement List#

Pipelines#

Source file type:

  • .usd, .usda, .usdc

    • Author or repair robot schema metadata and robot link/joint relationships on the default prim.

  • .urdf, .mjcf

    • Via robot conversion workflows that produce robot link and joint topology.

Validation or runtime pipeline:

  • SimReady validation - verifies the selected FET_021_ISAAC manifest.

  • simready-foundation-conform-fet-021-isaac - repairs robot naming, schema relationships, robot type, and root-joint pinning on staged robot outputs.

  • For Isaac packaging (RC.001, RC.004, RC.005, RC.006), use simready-foundation-conform-fet-000-isaac.

Samples#

Benchmarks#

  • None.

Adapters#

None.