Feature: FET_003_MUJOCO

Property	Value
Feature Name	FET_003_MUJOCO
Runtime	MUJOCO
Proprietary Techs	MuJoCo
Latest Version	0.1.0

Description

Defines the MuJoCo rigid-body physics contract. This feature keeps the Standard USD rigid-body and collider requirements, then adds MuJoCo collision schema requirements from the official experimental mjcPhysics schema.

The MuJoCo runtime layer must use standard UsdPhysics rigid bodies, mass, collision, and mesh collision authoring. MuJoCo-specific runtime data is added through MjcCollisionAPI and MjcMeshCollisionAPI. A UsdPhysics.Scene with MjcSceneAPI is a scenario-level concern and is not required for a single asset.

Dependency Graph

This feature has no JSON feature dependencies. It carries an explicit runtime-specific requirement list so the MuJoCo rigid-body contract can be validated directly.

        flowchart LR
    FET003M["FET_003_MUJOCO\n0.1.0"]
    FET004M["FET_004_MUJOCO\n0.1.0"]

    FET004M --> FET003M

    classDef current fill:#90EE90,stroke:#333
    classDef other fill:#fff,stroke:#333
    class FET003M current
    class FET004M other
    

Use Cases

• MuJoCo runtime rigid-body simulation for USD assets.

• MJCF-to-USD conversion workflows using the official MuJoCo USD schema.

• Runtime physics variants where MuJoCo is selectable alongside PhysX and Newton.

Requirements

Version 0.1.0

Details

Used in Profiles

• None documented.

Feature Dependencies

None.

Requirement List

Capability	Requirements
Physics Rigid Bodies	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

Pipelines

Source file type:

• .mjcf, .xml, .usd, .usda, .usdc

  • Via MuJoCo MJCF authoring or MJCF-to-USD conversion workflows that emit mjcPhysics schemas.

Validation or runtime pipeline:

• SimReady validation verifies the selected FET_003_MUJOCO manifest.

• MuJoCo runtime validation should import the authored USD layer stack and confirm rigid-body collision behavior.

Samples

• None.

Benchmarks

• None.

Adapters

From Feature	To Feature	Adapter	Status	Notes
FET_003_STANDARD@0.1.0	FET_003_MUJOCO@0.1.0	nv_core/cip_specs/asset_handler_modules/neutral_to_mujoco	Done	Computes mesh extents and applies MuJoCo mesh-collision schemas (convexHull) for the prop MuJoCo rigid-body path.