Feature: `FET_101_ISAAC`#

Property	Value
Feature Name	`FET_101_ISAAC`
Runtime	`ISAAC`
Proprietary Techs	`Isaac Sim`
Latest Version	`0.1.0`

Description#

Defines the Isaac Sim composition contract for robot assets. Robot assets organize files, payloads, and prims in the Isaac Sim asset-structure pattern for predictable runtime loading and physics composition, and carry the Isaac robot schema (IsaacRobotAPI plus isaac:physics:robotLinks / isaac:physics:robotJoints relationships) authored by the robot composition transform.

This feature is the robot counterpart to FET_100_ISAAC (prop composition). It exists so robot profiles select the robot composition transform (simready_physx_to_isaac_robot) instead of the prop transform (simready_physx_to_isaac_prop); adapters are keyed on exact input/output feature IDs, so a distinct feature ID is required to route robots to the robot transform.

Dependency Graph#

        flowchart LR
    FET_004_PHYSX_0_4_0["FET_004_PHYSX\n0.4.0"]
    FET_101_ISAAC_0_1_0["FET_101_ISAAC\n0.1.0"]
    FET_101_ISAAC_0_1_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_101_ISAAC manifest.
Isaac Sim import/runtime checks verify composed robot asset structure.

Requirements#

Version 0.1.0#

Details

Used in Profiles#

Robot Body Isaac v1.2.0

Feature Dependencies#

Property	Value
Dependency	`FET_004_PHYSX@0.4.0`

Requirement List#

Capability: Isaac Sim/Composition

Requirement	Requirement Doc	Rule
`ISA.001`	ISA.001	Implementation

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_101_ISAAC manifest.
Isaac Sim import/runtime checks verify composed robot asset structure.
Version 0.1.0 composition is generated by the standalone simready.asset_transformer package (nv_core/cip_specs/isaac_asset_transformer) via the simready_physx_to_isaac_robot transform, which runs as normal Python without a Kit extension. When the Isaac robot schema (usd.schema.isaac) is available the transform uses it; otherwise it falls back to a Kit-free path that authors the IsaacRobotAPI applied schema and the isaac:physics:robotLinks / isaac:physics:robotJoints relationships directly.

Samples#

ur10 Isaac robot

Benchmarks#

None.

Adapters#

From Feature	To Feature	Adapter	Status	Notes
`FET_001_STANDARD@1.0.1`	`FET_101_ISAAC@0.1.0`	`nv_core/cip_specs/asset_handler_modules/physx_to_isaacsim`	Done	Standalone `simready.asset_transformer` robot composition path using the `simready_physx_to_isaac_robot` transform.

Feature: FET_101_ISAAC#