Feature: `FET_022_MUJOCO`#

Property	Value
Feature Name	`FET_022_MUJOCO`
Runtime	`MUJOCO`
Proprietary Techs	`MuJoCo`
Latest Version	`0.1.0`

Description#

Defines the MuJoCo driven-joint contract using standard USD physics joint topology with MuJoCo joint and actuator schemas. This feature is for robot assets whose MuJoCo runtime layer applies MjcJointAPI to articulation joints and authors MjcActuator prims that target those joints.

Version 0.1.0 depends on FET_004_ROBOT_MUJOCO@0.1.0 so MuJoCo driven-joint and actuator validation runs after the MuJoCo robot multibody contract.

Dependency Graph#

        flowchart LR
    FET_004_ROBOT_MUJOCO_0_1_0["FET_004_ROBOT_MUJOCO\n0.1.0"]
    FET_022_MUJOCO_0_1_0["FET_022_MUJOCO\n0.1.0"]
    FET_022_MUJOCO_0_1_0 --> FET_004_ROBOT_MUJOCO_0_1_0

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

Use Cases#

Products or workflows that consume this feature:

SimReady validation verifies MuJoCo driven-joint requirements.
MuJoCo runtime import uses MjcJointAPI and MjcActuator data to drive robot articulations.
Converter-generated MuJoCo overlay layers can be validated without treating PhysX drive or joint-state schemas as the runtime contract.

Requirements#

Version 0.1.0#

Details

Used in Profiles#

None documented.

Feature Dependencies#

Property	Value
Dependency	`FET_004_ROBOT_MUJOCO@0.1.0`

Requirement List#

Capability: Physics Bodies/Physics Driven Joints

Requirement	Requirement Doc	Rule
`DJ.011`	DJ.011	Implementation
`MUJOCO.DJ.001`	MUJOCO.DJ.001	Implementation
`MUJOCO.DJ.002`	MUJOCO.DJ.002	Implementation

Pipelines#

Source file type:

.usd, .usda, .usdc, package source folder, or package root as applicable.

Validation or runtime pipeline:

SimReady validation verifies MuJoCo driven-joint requirements.
MuJoCo runtime validation should import the authored USD layer stack and verify that each MjcActuator drives its target joint as expected.

Samples#

None.

Benchmarks#

None.

Adapters#

None.

Feature: FET_022_MUJOCO#