Feature: `FET_004_MUJOCO`#

Property	Value
Feature Name	`FET_004_MUJOCO`
Runtime	`MUJOCO`
Proprietary Techs	`MuJoCo`
Latest Version	`0.1.0`

Description#

Defines the MuJoCo multibody physics contract for assets with multiple intended rigid bodies connected by USD physics joints. The feature depends on FET_003_MUJOCO@0.1.0 for MuJoCo rigid-body and collider authoring, then adds the Standard multibody, joint, and articulation topology requirements.

Dependency Graph#

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

    classDef current fill:#90EE90,stroke:#333

Use Cases#

MuJoCo runtime multibody simulation for props and robot-adjacent assets.
MJCF-to-USD conversion workflows that preserve jointed rigid-body topology.
Physics payload variants where MuJoCo is selectable alongside PhysX and Newton.

Requirements#

Version 0.1.0#

Details

Used in Profiles#

None documented.

Feature Dependencies#

Property	Value
Dependency	`FET_003_MUJOCO@0.1.0`

Requirement List#

Capability	Requirements
Physics Rigid Bodies	`RB.MB.001`, `RB.011`, `RB.012`
Physics Joints	`JT.001`, `JT.002`, `JT.003`, `JT.ART.002`, `JT.ART.003`, `JT.ART.004`

Pipelines#

Source file type:

.mjcf, .xml, .usd, .usda, .usdc

Validation or runtime pipeline:

SimReady validation verifies the selected FET_004_MUJOCO manifest.
MuJoCo runtime validation should simulate the jointed body hierarchy and confirm all linked rigid bodies move as expected.

Samples#

sample_content/common_assets/props_general/obs_electricians_large_tool_box_a01/simready_usd/sm_obs_electricians_large_tool_box_a01_01.usd - multibody prop (5 rigid bodies, 4 revolute joints); select the MuJoCo variant.

Benchmarks#

None.

Adapters#

From Feature	To Feature	Adapter	Status	Notes
`FET_004_STANDARD@0.1.0`	`FET_004_MUJOCO@0.1.0`	`nv_core/cip_specs/asset_handler_modules/neutral_to_mujoco`	Done	Applies MuJoCo mesh-collision schemas (`convexHull`) on existing collider prims.

Feature: FET_004_MUJOCO#