What problem does it solve?
A ForgeCAD MJCF export that loads without errors is not necessarily simulation-ready: joints may move the wrong direction, colliders may block motion, or the model may fall through the floor. This Skill enforces a rigorous verification workflow that loads the exported scene in MuJoCo, steps it under gravity, drives the intended actuators, inspects contact pairs, and renders visual evidence before declaring a model sim-ready.
Core Features & Use Cases
- Numeric acceptance criteria: Assert signed post-settle joint travel in cycles or radians, final joint velocities, and root drop limits instead of loose "it moved" checks.
- Contact pair inspection: Report the most frequent contact pairs to detect bad collider selection, filled bounding boxes, or floor/support failures.
- Rendered evidence: Generate initial, settled, and driven frames plus a labeled camera azimuth preview grid so views actually show the functional mechanism.
- Use Case: After exporting a drum-indexing mechanism with
forgecad export mjcf, run the bundled verifier with --expect-drive-cycles drum_joint=-0.06:-0.03 to confirm the drive rotates the drum the expected amount and stops near zero velocity.
Quick Start
Ask the agent to export the model to MJCF and verify it in MuJoCo using this skill's mujoco_verify.py script with the appropriate actuator, watched joint, and expected drive-cycle range.
