SimReady Conform FET003MUJOCO

Purpose

Use this exact feature skill when the selected profile, validation report, or user request names FET_003_MUJOCO. It repairs or stages MuJoCo rigid-body and collider conformance without drifting into PhysX or Newton-only requirements. A UsdPhysics.Scene with MjcSceneAPI is a scenario-level concern and is not required for a single asset.

Default to FET_003_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_003_MUJOCO-0.1.0.json
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_003_MUJOCO.md
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_rigid_bodies/requirements/mujoco-collider-api.md
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_rigid_bodies/requirements/mujoco-mesh-collision-api.md

Feature Versions

Version	Dependencies	Requirements
0.1.0	None	RB.COL.001, RB.COL.002, RB.COL.003, RB.COL.004, RB.001, RB.003, RB.005, RB.007, RB.009, RB.010, MUJOCO.COL.001, MUJOCO.COL.002

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_mujoco	rigid_body_neutral_to_prop_mujoco	FET_003_STANDARD@0.1.0 -> FET_003_MUJOCO@0.1.0	Mesh extents; MjcCollisionAPI (+mjc:group) and MjcMeshCollisionAPI with physics:approximation = "convexHull", mjc:inertia, mjc:maxhullvert on existing colliders. Satisfies MUJOCO.COL.001/MUJOCO.COL.002.

• The adapter runs on a staged output stage and never creates geometry; it only annotates existing colliders.
• If the base RB.* rigid-body data is missing, or convexHull is not the correct approximation for a given collider, repair that 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. Preserve standard UsdPhysics rigid-body, mass, and collider authoring.
5. Add or repair MjcCollisionAPI on active collision shapes.
6. Use physics:approximation = "convexHull" for MuJoCo mesh collision geoms.
7. Keep authored MuJoCo numeric, token, and array attributes valid.
8. Rerun the narrowest available validation gate and report any missing MuJoCo runtime evidence.

Report Fields

Field	Meaning
feature	Exact feature ID and version, for example FET_003_MUJOCO@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 runtime evidence needed.