SimReady Conform FET_022_MUJOCO

Purpose

Use this exact feature skill when the selected profile, validation report, or user request names FET_022_MUJOCO. It repairs or stages MuJoCo driven-joint conformance without drifting into another runtime contract.

Default to FET_022_MUJOCO@0.1.0 when the user asks for this feature without a version. Use an older integer version only when the profile, validation report, or user explicitly pins it. If the report names a different FET_###_RUNTIME feature, switch to that feature's matching skill before editing.

Source of Truth

Before changing an asset or package, read:

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_022_MUJOCO-0.1.0.json
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_022_MUJOCO.md
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/mujoco-joint-api.md
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/requirements/mujoco-actuator-targets.md

Treat the selected JSON manifest as authoritative for dependencies and requirement IDs. Use the feature markdown for human-readable contract details, requirement links, samples, benchmarks, and adapters.

Feature Versions

Workflow

1. Confirm the input exists and identify the exact selected feature/version from the profile TOML, validation report, or user request.
2. Load the selected FET_022_MUJOCO manifest, feature markdown, and MuJoCo requirement docs before editing.
3. Create or use a staged output location unless the user explicitly asks for in-place edits.
4. Repair only the requirements listed by the selected FET_022_MUJOCO manifest and its dependencies.
5. Preserve existing USD joint topology, body relationships, and authored limits unless a reported validation failure requires a narrow correction.
6. Apply MjcJointAPI to non-fixed articulation joints that belong to the MuJoCo driven-joint contract.
7. Author or repair MuJoCo joint tuning attributes only on USD physics joint prims. Keep mjc:armature finite and non-negative.
8. Author or repair MjcActuator prims so each actuator has exactly one mjc:target relationship to a valid MjcJointAPI joint.
9. Keep authored actuator ranges finite and ordered, and keep authored gain and bias parameter arrays numeric.
10. Rerun the same profile gate or the narrowest available feature/capability validation gate. If MuJoCo runtime evidence is unavailable, report that limitation instead of claiming a runtime pass.
11. Summarize the selected FET_022_MUJOCO version, changed files, validation evidence, and the first remaining blocker or next exact feature gate.

Feature Guidance

• Repair only the requirements listed by the selected FET_022_MUJOCO manifest and its dependencies.
• Do not add schemas, metadata, or runtime behavior for a sibling runtime feature.
• Do not delete standard UsdPhysics joint topology or MuJoCo robot multibody data when repairing the current version; FET_022_MUJOCO@0.1.0 depends on FET_004_ROBOT_MUJOCO@0.1.0.
• Do not delete PhysicsDriveAPI or joint-state schemas unless the selected validation report or user request explicitly asks for a MuJoCo-only overlay. When both standard drives and MuJoCo actuators are present, preserve authored data and report the ambiguity.
• Report missing MuJoCo runtime/tooling evidence as a validation limitation instead of claiming a runtime pass.

Report Fields