Feature: FET_024_MUJOCO#

Property

Value

Feature Name

FET_024_MUJOCO

Runtime

MUJOCO

Proprietary Techs

MuJoCo

Latest Version

0.1.0

Description#

Defines the MuJoCo base-articulation contract. MuJoCo USD uses standard UsdPhysics.ArticulationRootAPI; the current official schema does not define a separate MjcArticulationRootAPI or MjcArticulationRoot type. Version 0.1.0 therefore depends on the Standard articulation feature and adds a MuJoCo compatibility check that rejects invented MuJoCo articulation-root schemas.

Dependency Graph#

        flowchart LR
    FET_024_STANDARD_0_1_0["FET_024_STANDARD\n0.1.0"]
    FET_024_MUJOCO_0_1_0["FET_024_MUJOCO\n0.1.0"]
    FET_024_MUJOCO_0_1_0 --> FET_024_STANDARD_0_1_0

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

Use Cases#

  • SimReady validation verifies MuJoCo-compatible articulation root authoring.

  • MuJoCo robot runtime validation can consume a single standard articulation root while MuJoCo-specific data lives on supported scene, joint, actuator, collider, and site schemas.

Requirements#

Version 0.1.0#

Details

Used in Profiles#

  • None documented.

Feature Dependencies#

Property

Value

Dependency

FET_024_STANDARD@0.1.0

Requirement List#

Requirement

Requirement Doc

Rule

MUJOCO.BA.001

MUJOCO.BA.001

Implementation

Pipelines#

Source file type:

  • .mjcf, .xml, .usd, .usda, .usdc

Validation or runtime pipeline:

  • SimReady validation verifies FET_024_MUJOCO@0.1.0.

  • MuJoCo runtime validation should verify that the single articulation root imports as the intended robot articulation.

Samples#

  • None.

Benchmarks#

  • None.

Adapters#

None.