Feature: FET_004_ROBOT_MUJOCO

Property	Value
Feature Name	FET_004_ROBOT_MUJOCO
Runtime	ROBOT_MUJOCO
Proprietary Techs	MuJoCo
Latest Version	0.1.0

Description

Defines the robot-specific MuJoCo multibody contract. It mirrors the robot PhysX/Newton multibody shape by bundling robot rigid-body, joint, articulation, and runtime collider requirements in one feature.

This feature intentionally omits RB.COL.001 and RB.COL.002 because robot assets may use nested collision authoring patterns, and MuJoCo collider rules replace the Standard collider placement checks for this runtime.

Dependency Graph

This feature has no JSON feature dependencies. It carries an explicit robot-specific requirement list.

        flowchart LR
    FET004RM["FET_004_ROBOT_MUJOCO\n0.1.0"]
    FET022M["FET_022_MUJOCO\n0.1.0"]

    FET022M --> FET004RM

    classDef current fill:#90EE90,stroke:#333
    classDef other fill:#fff,stroke:#333
    class FET004RM current
    class FET022M other
    

Use Cases

• MuJoCo robot profiles that need a robot-specific collider exemption.

• MuJoCo robot link and joint topology before driven-joint, gripper, or articulation gates.

• MJCF-to-USD robot conversion workflows using official mjcPhysics schemas.

Requirements

Version 0.1.0

Details

Used in Profiles

• None documented.

Feature Dependencies

None.

Requirement List

Capability	Requirements
Physics Rigid Bodies	RB.COL.003, RB.COL.004, RB.001, RB.003, RB.005, RB.007, RB.009, RB.010, RB.MB.001, MUJOCO.COL.001, MUJOCO.COL.002, 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, .urdf, .usd, .usda, .usdc

  • Via robot conversion workflows that preserve robot link structure.

Validation or runtime pipeline:

• SimReady validation verifies the selected FET_004_ROBOT_MUJOCO manifest.

• MuJoCo runtime validation should import the robot layer stack and confirm linked-body simulation.

Samples

• None.

Benchmarks

• None.

Adapters

From Feature	To Feature	Adapter	Status	Notes
FET_003_STANDARD@0.1.0	FET_004_ROBOT_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 robot MuJoCo path.