simready-foundation-conform-fet-004-robot-newton

SimReady Conform FET_004_ROBOT_NEWTON

Purpose

Use this exact feature skill when the selected profile, validation report, or user request names FET_004_ROBOT_NEWTON. It repairs or stages simulate multi-body physics (robot newton) conformance without drifting into another runtime contract.

Default to FET_004_ROBOT_NEWTON@0.1.0 when the user asks for this feature without a version. Use an older integer version only when the profile, validation report, or user explicitly pins it. If the report names a different FET_###_RUNTIME feature, switch to that feature's matching skill before editing.

Source of Truth

Before changing an asset or package, read:

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_004_ROBOT_NEWTON-0.1.0.json
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_004_ROBOT_NEWTON.md

Treat the selected JSON manifest as authoritative for dependencies and requirement IDs. Use the feature markdown for human-readable contract details, requirement links, samples, benchmarks, and adapters.

Feature Versions

Version	Dependencies	Requirements
0.1.0	None	RB.COL.003, RB.COL.004, RB.001, RB.003, RB.005, RB.007, RB.009, RB.010, JT.001, JT.002, JT.003, JT.ART.002, JT.ART.003, JT.ART.004, RB.MB.001, NEWTON.COL.001, NEWTON.COL.002, NEWTON.MAS.001, NEWTON.MAT.001, RB.011, RB.012

Feature Adapter

When the input already conforms to the neutral base feature, prefer the deterministic feature adapter to author the runtime-specific data first (via the workspace upgrade command; see nv_core/sr_specs/docs/guides/feature_adapters/feature_adapters.md), then repair only the residual requirements below.

Adapter module	Adapter	Transition	Authors
nv_core/cip_specs/asset_handler_modules/neutral_to_newton	rigid_body_neutral_to_robot_newton	FET_003_STANDARD@0.1.0 -> FET_004_ROBOT_NEWTON@0.1.0	Mesh extents; NewtonCollisionAPI + NewtonMeshCollisionAPI and newton:contactGap = 0 on existing colliders; NewtonMaterialAPI + default friction tuning on bound physics materials. Satisfies NEWTON.COL.001/NEWTON.COL.002/NEWTON.MAT.001.

• The adapter runs on a staged output stage and never creates geometry, joints, or articulation topology; it only annotates existing prims.
• The robot RB.*, JT.*, RB.MB.001, RB.011, and RB.012 requirements require existing robot link/joint topology and must be repaired manually per the Workflow below. Strict Newton isolation: no Mjc*/Physx* data or physics:approximation = "sdf".

Workflow

1. Confirm the input exists and identify the exact selected feature/version from the profile TOML, validation report, or user request.
2. Load the selected FET_004_ROBOT_NEWTON manifest and the feature markdown before editing.
3. Load requirement docs linked from the feature markdown for every reported failing requirement.
4. Create or use a staged output location unless the user explicitly asks for in-place edits.
5. Repair only the requirements listed by the selected FET_004_ROBOT_NEWTON manifest and its dependencies.
6. Rerun the same profile gate or the narrowest available feature/capability validation gate. If runtime evidence is required and unavailable, report that limitation instead of claiming a pass.
7. Summarize the selected FET_004_ROBOT_NEWTON version, changed files, validation evidence, and the first remaining blocker or next exact feature gate.

Feature Guidance

• Use this robot Newton feature only when the profile pins it or needs its robot-specific collider exemption.
• Preserve robot link and joint semantics; leave robot identity to FET_021_* and driven actuation to FET_022_*.
• Newton collider tuning (NewtonCollisionAPI / NewtonMeshCollisionAPI / NewtonSDFCollisionAPI, newton:contactGap, newton:maxHullVertices) mirrors the FET_003_NEWTON collider requirements. Hydroelastic contact (newton:hydroelasticEnabled bool + positive newton:hydroelasticStiffness) is Newton-only and, when enabled, needs an authored SDF source (newton:sdfMaxResolution / newton:sdfTargetVoxelSize) unless the mesh has an attached mesh.sdf.
• Newton mass override (NewtonMassAPI, NEWTON.MAS.001) on link Xformables is optional: newton:inertia empty or 6 finite elements with non-negative diagonal, newton:massModel solid/shell, newton:shellThickness finite > 0 (or -inf sentinel). Derive inertia from source data; do not invent it. See FET_003_NEWTON for the full attribute list.
• NewtonMaterialAPI (NEWTON.MAT.001) applies on physics Material prims bound to robot colliders. Aligned with the UsdPhysicsMaterialAPI convention (PMT.001), validation checks placement only: the schema must sit on a UsdShade.Material that also carries PhysicsMaterialAPI. The newton:* tuning values (torsionalFriction, rollingFriction, contact*) are trusted, not value-checked. See FET_003_NEWTON for the full material attribute list.
• Newton joint tuning (NewtonJointAPI / newton:armature), actuation (PhysicsDriveAPI or NewtonActuator + control law), and articulation-root self-collision (NewtonArticulationRootAPI / newton:selfCollisionEnabled) belong to FET_022_NEWTON and FET_024_NEWTON; author them there when the robot profile pins those features.
• Strict Newton isolation (RV.011): no Mjc* / Physx* data or physics:approximation = "sdf".
• Do not create new geometry to satisfy this feature.

Report Fields

Field	Meaning
feature	Exact feature ID and version, for example FET_004_ROBOT_NEWTON@0.1.0.
input	Source asset, package root, or package definition inspected.
output	Staged output path, or in-place only when explicitly requested.
requirements_repaired	Requirement IDs repaired in this pass.
validation	Command or inspection used to verify this exact feature.
status	passed, failed, skipped, or blocked.
next_step	The next exact feature skill or user/runtime evidence needed.