forgecad-verify-mujoco
Verify a ForgeCAD MJCF export in MuJoCo with dynamics, contacts, controls, joint travel, and rendered evidence before calling it simulation-ready.
npx skills add ForgeCAD/forgecad-public-kit --skill forgecad-verify-mujoco --agent claude-code
Same command for any agent — swap --agent for codex, cursor, copilot.
Weekly change comes from our own snapshots, not the repository page — it measures attention, not adoption.
# Verify MuJoCo Use this when `forgecad export mjcf ...` is part of the deliverable. A model is not sim-ready just because `forgecad check simready` passes or the MJCF file loads: it must be loaded in MuJoCo, stepped under gravity, driven with the intended controls, contact pairs inspected, and rendered from useful views. Routing: geometry-only visual inspection -> `forgecad-inspect-model`; model authoring/API questions -> `forgecad`; building a new model -> `forgecad-build-model`. ## Definition Of Done 1. **Export from the exact source file.** ```bash rm -rf /tmp/forgecad-mjcf && mkdir -p /tmp/forgecad-mjcf forgecad export mjcf path/to/model.forge.js --output /tmp/forgecad-mjcf ``` 2. **Load the generated scene in MuJoCo.** Use `scene.xml`, not only the model XML, so the floor/camera/package context is included. 3. **Check the root behavior.** If the model has a free root, it needs real support/contact geometry or an explicit fixed-root export path. Do not hide a floor failure by turning the whole shell into a giant bounding box that blocks moving internals. 4. **Check initial poses numerically.** For mechanisms, compute the expected body/link axes from the design source and compa
- Definition Of Done
- Helper Script
- Contact Debugging Rules
- Reporting
rm -rf /tmp/forgecad-mjcf && mkdir -p /tmp/forgecad-mjcf forgecad export mjcf path/to/model.forge.js --output /tmp/forgecad-mjcf uv run --python 3.11 --with mujoco --with pillow \ python <this-skill-dir>/scripts/mujoco_verify.py /tmp/forgecad-mjcf \
What does the forgecad-verify-mujoco skill do?
Verify a ForgeCAD MJCF export in MuJoCo with dynamics, contacts, controls, joint travel, and rendered evidence before calling it simulation-ready.
How do I install it?
Run `npx skills add ForgeCAD/forgecad-public-kit --skill forgecad-verify-mujoco --agent claude-code` — it drops the skill into your project so the agent can pick it up. Swap the --agent value for codex, cursor or copilot if you use one of those.
Where does this skill come from?
From ForgeCAD/forgecad-public-kit, a repository with 915 stars. We read it straight from the repository tree rather than a submitted listing, so what you see here is what is actually published.
Is a popular skill a good skill?
Not necessarily. Stars measure attention, not adoption — a repository can trend for a week and be abandoned. That is why we show the weekly change from our own snapshots next to the total, instead of a single flattering number.