Feature: FET_028_MUJOCO#

Property

Value

Feature Name

FET_028_MUJOCO

Runtime

MUJOCO

Proprietary Techs

MuJoCo

Latest Version

1

Description#

Defines the MuJoCo gripper-site contract. It depends on the Standard gripper-site feature and MuJoCo driven-joint feature, then adds MjcSiteAPI on gripper site prims so MuJoCo tooling can treat them as runtime sites.

Dependency Graph#

        flowchart LR
    FET_022_MUJOCO_1["FET_022_MUJOCO\n1"]
    FET_028_STANDARD_1["FET_028_STANDARD\n1"]
    FET_028_MUJOCO_1["FET_028_MUJOCO\n1"]
    FET_028_MUJOCO_1 --> FET_028_STANDARD_1
    FET_028_MUJOCO_1 --> FET_022_MUJOCO_1

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

Use Cases#

  • SimReady validation verifies MuJoCo gripper-site schema authoring.

  • MuJoCo gripper control workflows can locate gripper sites through MjcSiteAPI.

Requirements#

Version 0.1.0#

Details

Used in Profiles#

  • None documented.

Feature Dependencies#

Property

Value

Dependency

FET_028_STANDARD@0.1.0

Dependency

FET_022_MUJOCO@0.1.0

Requirement List#

Requirement

Requirement Doc

Rule

MUJOCO.GR.001

MUJOCO.GR.001

Implementation

Pipelines#

Source file type:

  • .mjcf, .xml, .usd, .usda, .usdc

Validation or runtime pipeline:

  • SimReady validation verifies FET_028_MUJOCO@0.1.0.

  • MuJoCo runtime validation should verify gripper site discovery and actuation.

Samples#

Benchmarks#

  • None.

Adapters#

None.