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NVIDIAKnown publisherNVIDIA/simready-foundation/.agents/skills/simready-foundation-conform-fet-004-mujoco/SKILL.md

simready-foundation-conform-fet-004-mujoco

Skill156 starsChanged 52 days agoApache-2.0View on GitHub

Use for repairing exact FET_004_MUJOCO SimReady conformance for MuJoCo multibody physics without creating geometry. Use when a profile, validation report, or user request names FET_004_MUJOCO; default to version `0.1.0` unless pinned otherwise.

The file

We split this skill into the rules it gives an agent

6 rules. About 0 are common, 3 are distinctive, and 3 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.

  • 3

    Very specific

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

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

    Use this exact feature skill when the selected profile, validation report, or user request names FET_004_MUJOCO.

    line 17
  2. Very specific:

    Default to FET_004_MUJOCO@0.1.0 when no version is specified.

    line 19
  3. Distinctive:

    Before changing an asset or package, read:

    line 23
  4. Very specific:

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

    line 37
  5. Distinctive:

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

    line 50
  6. Distinctive:

    Do not create geometry to pass this feature.

    line 51

≈ “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_004_MUJOCO

Purpose

Use this exact feature skill when the selected profile, validation report, or user request names FET_004_MUJOCO. It repairs or stages MuJoCo multibody conformance after the FET_003_MUJOCO rigid-body gate.

Default to FET_004_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_004_MUJOCO-0.1.0.json
  • nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_004_MUJOCO.md
  • nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_003_MUJOCO-0.1.0.json

Feature Versions

VersionDependenciesRequirements
0.1.0FET_003_MUJOCO@0.1.0JT.001, JT.002, JT.003, JT.ART.002, JT.ART.003, JT.ART.004, RB.MB.001, RB.011, RB.012

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_mujococollider_neutral_to_prop_mujocoFET_004_STANDARD@0.1.0 -> FET_004_MUJOCO@0.1.0MjcCollisionAPI (+mjc:group) / MjcMeshCollisionAPI with physics:approximation = "convexHull" on existing colliders.
  • The adapter runs on a staged output stage and never creates geometry, joints, or articulation topology; it only annotates existing colliders.
  • FET_004_MUJOCO@0.1.0 is the multibody contract, so the adapter only covers MuJoCo collision data. The multibody requirements (JT.*, RB.MB.001, RB.011, RB.012) require existing joint/articulation topology and must be repaired 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, dependency manifest, and failing requirement docs before editing.
  3. Create or use a staged output location unless the user explicitly asks for in-place edits.
  4. Do not create geometry to pass this feature; use existing USD geometry and hierarchy.
  5. Repair rigid-body nesting, mass placement, joints, and articulation topology only as required by the selected manifest.
  6. Preserve FET_003_MUJOCO collider data.
  7. Rerun the narrowest available validation gate and report any missing MuJoCo runtime evidence.

Feature Guidance

  • Repair MuJoCo multibody joint and articulation requirements on existing rigid bodies, joints, and articulations. Do not create geometry.
  • Runtime-variant packaging. For an asset that exposes physics through variant sets (FET_000_MUJOCO scaffolding), the MuJoCo collider annotations (MjcCollisionAPI/MjcMeshCollisionAPI + physics:approximation = "convexHull" + mjc:*) belong in the runnables/physics/mujoco.usd payload as overs on every collider — not on the neutral base. This skill repairs the joint/articulation topology on the neutral base (rigid bodies, UsdPhysics joints, exactly one PhysicsArticulationRootAPI, and no local physics:approximation on any collider); author the per-runtime collider deltas via FET_000_MUJOCO.

Report Fields

FieldMeaning
featureExact feature ID and version, for example FET_004_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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