Feature: FET_022_STANDARD#
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Description#
Defines the Standard OpenUSD driven-joint contract for articulated robot mechanisms using joint drive/state APIs, consistent joint transforms and states, and loop-free articulation graphs.
Dependency Graph#
flowchart LR
FET_004_STANDARD_0_1_0["FET_004_STANDARD\n0.1.0"]
FET_004_STANDARD_0_2_0["FET_004_STANDARD\n0.2.0"]
FET_022_STANDARD_0_1_0["FET_022_STANDARD\n0.1.0"]
FET_022_STANDARD_0_2_0["FET_022_STANDARD\n0.2.0"]
FET_022_STANDARD_0_1_0 --> FET_004_STANDARD_0_1_0
FET_022_STANDARD_0_2_0 --> FET_004_STANDARD_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_STANDARD manifest.
Runtime-specific FET022 features extend this authoring for engine execution.
Requirements#
Version 0.1.0#
Details
Used in Profiles#
Robot Body Neutral v1.0.0
Robot Gripper Neutral v0.1.0
Feature Dependencies#
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Dependency |
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Requirement List#
Capability: Physics Bodies/Physics Driven Joints
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Version 0.2.0#
Details
Used in Profiles#
Robot Body Neutral v1.1.0
Robot Body v2.0.0 optional
Robot Gripper Neutral v0.2.0
Robot Gripper v2.0.0 optional
Feature Dependencies#
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Dependency |
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Changes From Version 0.1.0#
Keeps Version 0.1.0 requirements and updates the dependency to FET_004_STANDARD@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_STANDARD manifest.
Runtime-specific FET022 features extend this authoring for engine execution.
Samples#
Benchmarks#
None. The bundled driven-joint tests register against the PhysX and Isaac runtime variants, not the Standard authoring feature.
Adapters#
None.