simready-foundation-conform-fet-004-robot-mujoco

SimReady Conform FET_004_ROBOT_MUJOCO

Purpose

Use this exact feature skill when the selected profile, validation report, or user request names FET_004_ROBOT_MUJOCO. It repairs robot-specific MuJoCo multibody conformance without creating new geometry.

Default to FET_004_ROBOT_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_ROBOT_MUJOCO-0.1.0.json
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_004_ROBOT_MUJOCO.md
• MuJoCo rigid-body requirement docs linked from FET_003_MUJOCO.md when collider failures are reported

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.
• The robot rigid-body, JT.*, articulation, and nested-body requirements require existing robot link/joint 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, 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 robot link geometry and hierarchy.
5. Preserve the robot link/joint topology and repair USD physics schemas, relationships, articulation APIs, masses, and MuJoCo collider schemas.
6. Use MjcCollisionAPI and MuJoCo mesh collision attributes only where required by the selected contract.
7. Rerun the narrowest available validation gate and report any missing MuJoCo runtime evidence.

Report Fields