simready-foundation-conform-fet-004-mujoco

SimReady Conform FET_004_MUJOCO

Purpose

Use this exact feature skill when the selected profile, validation report, or user request names FET_004_MUJOCO. It repairs or stages MuJoCo multibody conformance after the FET_003_MUJOCO rigid-body gate.

Default to FET_004_MUJOCO@0.1.0 when no version is specified.

Source of Truth

Before changing an asset or package, read:

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_004_MUJOCO-0.1.0.json
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_004_MUJOCO.md
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_003_MUJOCO-0.1.0.json

Feature Versions

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.

• The adapter runs on a staged output stage and never creates geometry, joints, or articulation topology; it only annotates existing colliders.
• FET_004_MUJOCO@0.1.0 is the multibody contract, so the adapter only covers MuJoCo collision data. 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.

Workflow

1. Identify the exact selected feature/version from the profile TOML, validation report, or user request.
2. Load the selected manifest, feature markdown, dependency manifest, and failing requirement docs before editing.
3. Create or use a staged output location unless the user explicitly asks for in-place edits.
4. Do not create geometry to pass this feature; use existing USD geometry and hierarchy.
5. Repair rigid-body nesting, mass placement, joints, and articulation topology only as required by the selected manifest.
6. Preserve FET_003_MUJOCO collider data.
7. Rerun the narrowest available validation gate and report any missing MuJoCo runtime evidence.

Feature Guidance

• Repair MuJoCo multibody joint and articulation requirements on existing rigid bodies, joints, and articulations. Do not create geometry.
• Runtime-variant packaging. For an asset that exposes physics through variant sets (FET_000_MUJOCO scaffolding), the MuJoCo collider annotations (MjcCollisionAPI/MjcMeshCollisionAPI + physics:approximation = "convexHull" + mjc:*) belong in the runnables/physics/mujoco.usd payload as overs on every collider — 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 deltas via FET_000_MUJOCO.

Report Fields