Feature: FET_022_PHYSX#

Property

Value

Feature Name

FET_022_PHYSX

Runtime

PHYSX

Proprietary Techs

PhysX

Latest Version

0.2.0

Description#

Defines the PhysX driven-joint contract, adding PhysX-compatible drive, mimic, velocity, and drive-value requirements to robot joint authoring.

Dependency Graph#

        flowchart LR
    FET_004_PHYSX_0_4_0["FET_004_PHYSX\n0.4.0"]
    FET_004_ROBOT_PHYSX_0_1_0["FET_004_ROBOT_PHYSX\n0.1.0"]
    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_PHYSX_0_1_0 --> FET_004_ROBOT_PHYSX_0_1_0
    FET_022_PHYSX_0_2_0 --> FET_004_PHYSX_0_4_0

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

Use Cases#

Products or workflows that consume this feature:

  • SimReady validation verifies the selected FET_022_PHYSX manifest.

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

Requirements#

Version 0.1.0#

Details

Used in Profiles#

  • Robot Body Runnable v1.0.0

Feature Dependencies#

Property

Value

Dependency

FET_004_ROBOT_PHYSX@0.1.0

Requirement List#

Requirement

Requirement Doc

Rule

DJ.001

DJ.001

Implementation

DJ.002

DJ.002

Implementation

DJ.003

DJ.003

Implementation

DJ.004

DJ.004

Implementation

DJ.005

DJ.005

Implementation

DJ.006

DJ.006

Implementation

DJ.007

DJ.007

Implementation

DJ.011

DJ.011

Implementation

Version 0.2.0#

Details

Used in Profiles#

  • Robot Body Runnable v1.1.0

  • Robot Body v2.0.0 optional

  • Robot Gripper v2.0.0 optional

Feature Dependencies#

Property

Value

Dependency

FET_004_PHYSX@0.4.0

Changes From Version 0.1.0#

Keeps Version 0.1.0 requirements and aligns the dependency with FET_004_PHYSX@4.

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_PHYSX manifest.

  • SimReady Benchmark FET022 Driven Joints verifies 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.