SimReady Conform FET004NEWTON

Purpose

Use this exact feature skill when the selected profile, validation report, or user request names FET_004_NEWTON. It repairs or stages simulate multi-body physics (newton) conformance without drifting into another runtime contract.

FET_004_NEWTON has a single published version, 0.1.0; use FET_004_NEWTON@0.1.0. 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_NEWTON-0.1.0.json
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_004_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	FET_003_NEWTON@0.1.0	JT.001, JT.002, JT.003, JT.ART.002, JT.ART.003, JT.ART.004, RB.MB.001, RB.011, RB.012

Newton collider requirements (NEWTON.COL.001, NEWTON.COL.002) and the Newton rigid-body base come from the FET_003_NEWTON@0.1.0 dependency.

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	collider_neutral_to_prop_newton	FET_004_STANDARD@0.1.0 -> FET_004_NEWTON@0.1.0	NewtonCollisionAPI + NewtonMeshCollisionAPI and newton:contactGap = 0 on existing colliders.

• The adapter runs on a staged output stage and never creates geometry, joints, or articulation topology; it only annotates existing colliders.
• FET_004_NEWTON@0.1.0 is the multibody contract, so the adapter only covers the Newton collision annotation. The multibody requirements (JT.*, RB.MB.001, RB.011, RB.012) require existing joint/articulation 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_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_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_NEWTON version, changed files, validation evidence, and the first remaining blocker or next exact feature gate.

Feature Guidance

• Repair Newton multibody joint and articulation requirements on existing rigid bodies, joints, and articulations. Do not create geometry.
• Newton collider conformance (NEWTON.COL.001/NEWTON.COL.002, choosing NewtonMeshCollisionAPI or NewtonSDFCollisionAPI per collider without applying both on the same prim) is owned by the FET_003_NEWTON@0.1.0 dependency; repair it there.
• Do not use robot-specific collider exemptions unless the selected feature is FET_004_ROBOT_NEWTON.
• Runtime-variant packaging. For an asset that exposes physics through variant sets (FET_000_NEWTON scaffolding), the Newton collider annotations (NewtonCollisionAPI/NewtonMeshCollisionAPI + newton:contactGap) and NewtonMaterialAPI material tuning belong in the runnables/physics/newton.usd payload as overs on every collider and bound material — not on the neutral base. This skill repairs the joint/articulation topology on the neutral base (rigid bodies, UsdPhysics joints, exactly one PhysicsArticulationRootAPI, and no local physics:approximation on any collider); author the per-runtime collider/material deltas via FET_000_NEWTON.

Report Fields

Field	Meaning
feature	Exact feature ID and version, for example FET_004_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.