Feature: FET_022_NEWTON#

Property

Value

Feature Name

FET_022_NEWTON

Runtime

NEWTON

Proprietary Techs

Newton

Latest Version

0.1.0

Description#

Defines the Newton driven-joint contract. Actuation may be authored either with standard UsdPhysics.DriveAPI drives or with the published Newton actuator schemas (NewtonActuator + a control-law API), and Newton joint tuning is expressed with NewtonJointAPI (or the equivalent newton:* resolver attributes) instead of PhysX joint APIs. Coupled (mimic) joints are expressed with NewtonMimicAPI.

Newton Authoring Notes#

Editorial guidance (does not change the requirement IDs above):

  • Joint tuning uses NewtonJointAPI on the UsdPhysics.Joint: newton:armature, newton:damping, newton:friction (all non-negative), newton:velocityLimit (positive or inf), and the newton:limitStiffness / newton:limitDamping limit spring (non-negative, or the -inf sentinel that defers to the engine default). Values broadcast uniformly to every DOF; angular attributes use degrees.

  • Actuators are NewtonActuator prims that target a PhysicsRevoluteJoint or PhysicsPrismaticJoint via rel newton:targets. Each actuator applies exactly one control law — NewtonPDControlAPI (newton:kp, newton:kd, newton:constEffort), NewtonPIDControlAPI (adds newton:ki, newton:integralMax), or NewtonNeuralControlAPI — plus optional clamps (NewtonMaxEffortClampingAPI newton:maxEffort, NewtonDCMotorClampingAPI, NewtonPositionBasedClampingAPI) and an optional NewtonActuatorDelayAPI (newton:delaySteps). Actuators use radians.

  • A joint counts as actuated for NEWTON.DJ.001 when it has a PhysicsDriveAPI:<axis> or is targeted by a NewtonActuator. In the isolated Newton runtime layer, drive each joint by exactly one of these to avoid double-driving: the usual pattern removes the neutral PhysicsDriveAPI in the Newton runnable and drives via NewtonActuator. Keep the standard PhysicsDriveAPI only when the same joint must serve multiple runtimes in one composition.

  • Mimic (coupled) joints use NewtonMimicAPI on the follower UsdPhysics.Joint (NEWTON.DJ.003): author rel newton:mimicJoint pointing at one leader joint (not the follower itself), with finite newton:mimicCoef0 / newton:mimicCoef1 enforcing joint0 = coef0 + coef1 * joint1. Apply only on single-DOF joints; typical use is a parallel-jaw gripper where one finger tracks the other.

Dependency Graph#

        flowchart LR
    FET_004_ROBOT_NEWTON_0_1_0["FET_004_ROBOT_NEWTON\n0.1.0"]
    FET_022_NEWTON_0_1_0["FET_022_NEWTON\n0.1.0"]
    FET_022_NEWTON_0_1_0 --> FET_004_ROBOT_NEWTON_0_1_0

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

Use Cases#

Products or workflows that consume this feature:

  • SimReady validation verifies Newton driven-joint requirements.

  • SimReady Benchmark runs state_accuracy with the Newton engine to command driven joints and verify Newton joint-state readback against each target.

Requirements#

Version 0.1.0#

Details

Used in Profiles#

  • None documented.

Feature Dependencies#

Property

Value

Dependency

FET_004_ROBOT_NEWTON@0.1.0

Requirement List#

Requirement

Requirement Doc

Rule

DJ.011

DJ.011

Implementation

NEWTON.DJ.001

NEWTON.DJ.001

Implementation

NEWTON.DJ.002

NEWTON.DJ.002

Implementation

NEWTON.DJ.003

NEWTON.DJ.003

Implementation

Pipelines#

Source file type:

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

Validation or runtime pipeline:

  • SimReady validation verifies Newton driven-joint requirements.

  • state_accuracy runs in the Newton engine and verifies position-command tracking plus joint-state reporting for every eligible driven joint.

Samples#

  • sample_content/common_assets/robots_general/ur10/simready_usd/ur10.usd

Benchmarks#

  • state_accuracy (Kit / Isaac Sim Newton experience)

Adapters#

None.