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

Version	Dependencies	Requirements
0.1.0	None	Robot rigid-body, joint, articulation, nested-body, and MuJoCo collider requirements listed in FET_004_ROBOT_MUJOCO-0.1.0.json

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_robot_mujoco	FET_003_STANDARD@0.1.0 -> FET_004_ROBOT_MUJOCO@0.1.0	Mesh extents; MjcCollisionAPI (+mjc:group) / MjcMeshCollisionAPI with physics:approximation = "convexHull" on existing colliders.

• 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

Field	Meaning
feature	Exact feature ID and version, for example FET_004_ROBOT_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.