MuJoCo Gripper Site API#

Code

MUJOCO.GR.001

Validator

MuJoCoGripperSiteAPI

Compatibility

other

Tags

🔑

Summary#

MuJoCo gripper site prims must apply MjcSiteAPI.

Description#

The official MuJoCo USD schema defines MjcSiteAPI for MuJoCo site metadata. When a SimReady gripper site is intended for MuJoCo runtime workflows, the site prim must keep the Standard gripper-site data and also apply MjcSiteAPI.

When mjc:group is authored on the site, it must be a non-negative integer.

Why is it required?#

  • Allows MuJoCo tooling to discover the authored gripper site as a MuJoCo site.

  • Keeps MuJoCo site metadata on the same prim as the SimReady gripper-site contract.

  • Avoids adding broader MuJoCo site requirements beyond what the schema currently exposes.

Examples#

def Xform "gripper_01" (
    prepend apiSchemas = ["MjcSiteAPI"]
)
{
    string simready:attachment:socketType = "Gripper"
    int mjc:group = 0
}

How to comply#

  • Preserve the Standard gripper-site requirements.

  • Apply MjcSiteAPI to each gripper site prim used by MuJoCo.

  • Keep authored mjc:group values non-negative integers.

For More Information#