Feature: FET_022_ISAAC#

Property

Value

Feature Name

FET_022_ISAAC

Runtime

ISAAC

Proprietary Techs

Isaac Sim

Latest Version

0.2.0

Description#

Defines the Isaac driven-joint contract by adding robot-schema joint, link, and relationship checks on top of a PhysX driven-joint dependency.

Dependency Graph#

        flowchart LR
    FET_022_ISAAC_0_1_0["FET_022_ISAAC\n0.1.0"]
    FET_022_ISAAC_0_2_0["FET_022_ISAAC\n0.2.0"]
    FET_022_PHYSX_0_1_0["FET_022_PHYSX\n0.1.0"]
    FET_022_PHYSX_0_2_0["FET_022_PHYSX\n0.2.0"]
    FET_022_ISAAC_0_1_0 --> FET_022_PHYSX_0_1_0
    FET_022_ISAAC_0_2_0 --> FET_022_PHYSX_0_2_0

    classDef current fill:#90EE90,stroke:#333

Use Cases#

Products or workflows that consume this feature:

  • SimReady validation verifies the selected FET_022_ISAAC manifest.

  • SimReady Benchmark FET022 Driven Joints verifies Isaac/PhysX driven-joint behavior.

Requirements#

Version 0.1.0#

Details

Used in Profiles#

  • Robot Body Isaac v1.0.0

  • Robot Gripper Isaac v0.1.0

Feature Dependencies#

Property

Value

Dependency

FET_022_PHYSX@0.1.0

Requirement List#

Requirement

Requirement Doc

Rule

DJ.008

DJ.008

Implementation

DJ.009

DJ.009

Implementation

DJ.010

DJ.010

Implementation

Version 0.2.0#

Details

Used in Profiles#

  • Robot Body Isaac v1.1.0

  • Robot Body v2.0.0 optional

  • Robot Gripper Isaac v0.2.0

  • Robot Gripper v2.0.0 optional

Feature Dependencies#

Property

Value

Dependency

FET_022_PHYSX@0.2.0

Changes From Version 0.1.0#

Keeps Version 0.1.0 requirements and updates the dependency to FET_022_PHYSX@2.

Pipelines#

Source file type:

  • .usd, .usda, .usdc, package source folder, or package root as applicable.

Validation or runtime pipeline:

  • SimReady validation verifies the selected FET_022_ISAAC manifest.

  • SimReady Benchmark FET022 Driven Joints verifies Isaac/PhysX driven-joint behavior.

Samples#

Benchmarks#

  • FET022 Driven Joints: drive_gain_validation, effort_limit, full_range_sweep, ik_target_reach, jacobian_ik, mimic_joint, multi_joint_coordination, state_accuracy, and velocity_limit.

Adapters#

None.