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NVIDIAKnown publisherNVIDIA/simready-foundation/.agents/skills/simready-foundation-conform-fet-003-mujoco/SKILL.md

simready-foundation-conform-fet-003-mujoco

Skill156 starsChanged 52 days agoApache-2.0View on GitHub

Use for repairing exact FET_003_MUJOCO SimReady conformance for MuJoCo rigid-body physics, including MjcCollisionAPI and MjcMeshCollisionAPI. Use when a profile, validation report, or user request names FET_003_MUJOCO; default to version `0.1.0` unless pinned otherwise.

The file

We split this skill into the rules it gives an agent

8 rules. About 0 are common, 3 are distinctive, and 5 are very specific to this project.

  • ≈0

    Common · estimate

    Many files like this have a rule of this kind.

  • ≈3

    Distinctive · estimate

    This author's own choices. Worth a look.

  • 5

    Very specific

    Tied to their project's names, files or tools. Probably skip.

  • Common
  • Distinctive
  • Very specific
  1. Very specific:

    Default to FET_003_MUJOCO@0.1.0 when no version is specified.

    line 19
  2. Distinctive:

    Before changing an asset or package, read:

    line 23
  3. Very specific:

    When the input already conforms to the neutral base feature, prefer the deterministic feature adapter to author the runtime-specific data …

    line 38
  4. Very specific:

    If the base RB.* rigid-body data is missing, or convexHull is not the correct approximation for a given collider, repair that manually per …

    line 45
  5. Distinctive:

    Create or use a staged output location unless the user explicitly asks for in-place edits.

    line 51
  6. Very specific:

    Add or repair MjcCollisionAPI on active collision shapes.

    line 53
  7. Very specific:

    Use physics:approximation = "convexHull" for MuJoCo mesh collision geoms.

    line 54
  8. Distinctive:

    Keep authored MuJoCo numeric, token, and array attributes valid.

    line 55

≈ “Common” is an estimate: at least 1 in 5 of the 350,495 skill files we read have a rule of the same kind, not the same words. “Very specific” is our guess from the words: it names a file, a command, a setting or the project itself.

Keep what fits and drop the rest. Your version, ready for your agents.
Files
SKILL.md

SimReady Conform FET_003_MUJOCO

Purpose

Use this exact feature skill when the selected profile, validation report, or user request names FET_003_MUJOCO. It repairs or stages MuJoCo rigid-body and collider conformance without drifting into PhysX or Newton-only requirements. A UsdPhysics.Scene with MjcSceneAPI is a scenario-level concern and is not required for a single asset.

Default to FET_003_MUJOCO@0.1.0 when no version is specified.

Source of Truth

Before changing an asset or package, read:

  • nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_003_MUJOCO-0.1.0.json
  • nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_003_MUJOCO.md
  • nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_rigid_bodies/requirements/mujoco-collider-api.md
  • nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_rigid_bodies/requirements/mujoco-mesh-collision-api.md

Feature Versions

VersionDependenciesRequirements
0.1.0NoneRB.COL.001, RB.COL.002, RB.COL.003, RB.COL.004, RB.001, RB.003, RB.005, RB.007, RB.009, RB.010, MUJOCO.COL.001, MUJOCO.COL.002

Feature Adapter

When the input already conforms to the neutral base feature, prefer the deterministic feature adapter to author the runtime-specific data first (via the workspace upgrade command; see nv_core/sr_specs/docs/guides/feature_adapters/feature_adapters.md), then repair only the residual requirements below.

Adapter moduleAdapterTransitionAuthors
nv_core/cip_specs/asset_handler_modules/neutral_to_mujocorigid_body_neutral_to_prop_mujocoFET_003_STANDARD@0.1.0 -> FET_003_MUJOCO@0.1.0Mesh extents; MjcCollisionAPI (+mjc:group) and MjcMeshCollisionAPI with physics:approximation = "convexHull", mjc:inertia, mjc:maxhullvert on existing colliders. Satisfies MUJOCO.COL.001/MUJOCO.COL.002.
  • The adapter runs on a staged output stage and never creates geometry; it only annotates existing colliders.
  • If the base RB.* rigid-body data is missing, or convexHull is not the correct approximation for a given collider, repair that manually per the Workflow below.

Workflow

  1. Identify the exact selected feature/version from the profile TOML, validation report, or user request.
  2. Load the selected manifest, feature markdown, and failing requirement docs before editing.
  3. Create or use a staged output location unless the user explicitly asks for in-place edits.
  4. Preserve standard UsdPhysics rigid-body, mass, and collider authoring.
  5. Add or repair MjcCollisionAPI on active collision shapes.
  6. Use physics:approximation = "convexHull" for MuJoCo mesh collision geoms.
  7. Keep authored MuJoCo numeric, token, and array attributes valid.
  8. Rerun the narrowest available validation gate and report any missing MuJoCo runtime evidence.

Report Fields

FieldMeaning
featureExact feature ID and version, for example FET_003_MUJOCO@0.1.0.
inputSource asset, package root, or package definition inspected.
outputStaged output path, or in-place only when explicitly requested.
requirements_repairedRequirement IDs repaired in this pass.
validationCommand or inspection used to verify this exact feature.
statuspassed, failed, skipped, or blocked.
next_stepThe next exact feature skill or runtime evidence needed.

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