# SimReady Conform Profile ## When to Use Use this router reference after USD conversion and property assignment, before `simready-validate`. It chooses the SimReady feature-level conformance skill that should repair a failing profile requirement. This reference ships a narrow `scripts/run.py` router for deterministic Skill Hub handoff and report generation. It should not be treated as the source of truth for canonical FET instructions. The source of truth is the SimReady Foundation repository: ```text https://github.com/NVIDIA/simready-foundation/tree/main ``` Do not copy upstream FET skill instructions, requirement summaries, validators, or repair policy into this repo. If browser or raw-file access is unavailable, use a local checkout and read the upstream `SKILL.md` file directly. ## Prerequisites - Python 3.12 and `uv` (per repo `README.md`). - A required `.usd`, `.usda`, `.usdc`, or `.usdz` asset after conversion and property assignment. - OpenUSD Python APIs (`pxr.Usd`, `pxr.UsdGeom`) for local helper scripts when they are used. - A SimReady Foundation checkout at `${SIMREADY_FOUNDATION_ROOT:-$PHYSICAL_AI_SKILL_HUB_UPSTREAM_ROOT/simready-foundation}` or `$HOME/.physical-ai-skill-hub/upstreams/simready-foundation`, checked out to branch `main`. ## Scope This reference owns only Skill Hub routing, report handoff, and local helper selection. Upstream SimReady Foundation owns feature-level conformance behavior. ## Upstream Skills Resolve upstream skill files from: ```text $SIMREADY_FOUNDATION_ROOT/skills//SKILL.md ``` Use this mapping when routing validation failures: | Requirement area | Upstream Foundation skill | |---|---| | Core metadata, sidecar JSON, asset naming, and package layout failures | `simready-foundation-conform-fet-000-core` | | Minimal/base-neutral USD feature failures | `simready-foundation-conform-fet-001-minimal` | | Rigid-body physics failures | `simready-foundation-conform-fet-003-rigid-body-physics` | | Multibody physics failures | `simready-foundation-conform-fet-004-simulate-multi-body-physics` | | Prop grasp vector failures for `GSP.001` | `simready-foundation-conform-fet-005-simulate-grasp-physics` | | Material failures | `simready-foundation-conform-fet-006-materials` | | Nonvisual material failures | `simready-foundation-conform-fet-007-nonvisual-materials` | | Robot core profile failures | `simready-foundation-conform-fet-021-robot-core` | | Robot material failures | `simready-foundation-conform-fet-023-robot-materials` | | Base articulation failures | `simready-foundation-conform-fet-024-base-articulation` | The matching branch URLs are: ```text https://github.com/NVIDIA/simready-foundation/blob/main/skills/simready-foundation-conform-fet-000-core/SKILL.md https://github.com/NVIDIA/simready-foundation/blob/main/skills/simready-foundation-conform-fet-001-minimal/SKILL.md https://github.com/NVIDIA/simready-foundation/blob/main/skills/simready-foundation-conform-fet-003-rigid-body-physics/SKILL.md https://github.com/NVIDIA/simready-foundation/blob/main/skills/simready-foundation-conform-fet-004-simulate-multi-body-physics/SKILL.md https://github.com/NVIDIA/simready-foundation/blob/main/skills/simready-foundation-conform-fet-005-simulate-grasp-physics/SKILL.md https://github.com/NVIDIA/simready-foundation/blob/main/skills/simready-foundation-conform-fet-006-materials/SKILL.md https://github.com/NVIDIA/simready-foundation/blob/main/skills/simready-foundation-conform-fet-007-nonvisual-materials/SKILL.md https://github.com/NVIDIA/simready-foundation/blob/main/skills/simready-foundation-conform-fet-021-robot-core/SKILL.md https://github.com/NVIDIA/simready-foundation/blob/main/skills/simready-foundation-conform-fet-023-robot-materials/SKILL.md https://github.com/NVIDIA/simready-foundation/blob/main/skills/simready-foundation-conform-fet-024-base-articulation/SKILL.md ``` ## Local Helper Policy Some legacy reference-local scripts remain only as narrow report-producing helpers for the Skill Hub workflow. They are not the FET skill source of truth. Before running one, read the matching upstream Foundation skill and make sure the helper still matches the selected profile requirement. Do not add new copied FET docs to this repo. If a needed repair is fully covered by an upstream Foundation script, run the upstream script from the Foundation checkout instead of adding another local implementation here. ## Inputs Collect: | Input | Requirement | |---|---| | `usd_asset` | Required `.usd`, `.usda`, `.usdc`, or `.usdz` asset after conversion and property assignment. | | `output_root` | Required or inferred directory for conformance outputs and reports. | | `simready_profile` | Selected SimReady profile. Default to `Prop-Robotics-Neutral` for generic props unless the user names another profile. | | `profile_version` | Selected profile version. Default to `1.0.0` unless the user names another version. | | `validation_report` | Preferred JSON report from `simready-validate`, used to identify failing feature and requirement IDs. | | `source_asset` | Optional provenance path for metadata. | | `grasp_target_prim` | Optional prim path for grasp-vector placement. | | `grasp_points` | Optional explicit grasp vector points. | For `.usdz`, Core metadata repair may be sidecar-only, but feature repairs that must author USD prims cannot rewrite a sealed package. Report that limitation and ask for or produce an unpacked USD-family asset when prim-level repair is required. ## Profile Policy Default behavior for current profiles: | Profile family | Conformance routing | |---|---| | `Prop-Robotics-*` | Route Core failures to `simready-foundation-conform-fet-000-core`; route `GSP.001` or FET005 failures to `simready-foundation-conform-fet-005-simulate-grasp-physics`; route material and physics failures to their matching upstream FET skills. | | `Robot-Body-*` | Route Core failures to `simready-foundation-conform-fet-000-core`; route robot schema, robot material, articulation, and physics failures to the matching upstream robot or physics FET skills. Do not add prop grasp vectors unless the user explicitly asks or validation identifies a matching requirement. | | Unknown or custom profile | Run profile validation or inspect the failing feature IDs before choosing upstream FET skills. | Prefer explicit user intent over defaults. Do not guess destructive edits or overwrite source files. ## Instructions 1. Confirm the USD asset exists. 2. Select the profile and profile version. 3. Read the relevant upstream Foundation skill before authoring any repair. 4. Route Core metadata, naming, and layout failures to `simready-foundation-conform-fet-000-core`. 5. Inspect the latest staged USD metadata before final profile validation. If `metersPerUnit` is present but not `1.0`, or validation reports `UN.007`, route to `simready-foundation-conform-fet-001-minimal` before later feature repairs. 6. Route the next failing feature to the matching upstream FET skill. For `GSP.001`, use `simready-foundation-conform-fet-005-simulate-grasp-physics` because it owns the visual/semantic grasp decision. For `RB.MB.001` or `FET004_BASE_*`, use `simready-foundation-conform-fet-004-simulate-multi-body-physics`; count actual `UsdPhysics.RigidBodyAPI` prims and inspect existing component colliders or part roots. If there are at least two reusable candidates, run the FET004 flow instead of marking the profile gate not applicable. If there is only one mesh component or one `GeomSubset` component, let `simready-validate` report `RB.MB.001` as a non-blocking ignored issue. 7. Preserve every JSON report and summarize each authoring step as pass, fail, skipped, or blocked. 8. Stop at the first failed authoring step unless the user asks for best-effort continuation. 9. Hand off the latest authored USD path to `simready-validate`. ## Command Patterns Resolve the Foundation checkout before following any FET skill: ```bash export PHYSICAL_AI_SKILL_HUB_UPSTREAM_ROOT="${PHYSICAL_AI_SKILL_HUB_UPSTREAM_ROOT:-$HOME/.physical-ai-skill-hub/upstreams}" export SIMREADY_FOUNDATION_ROOT="${SIMREADY_FOUNDATION_ROOT:-$PHYSICAL_AI_SKILL_HUB_UPSTREAM_ROOT/simready-foundation}" git -C "$SIMREADY_FOUNDATION_ROOT" checkout main ``` Read the upstream skill selected by this router: ```bash sed -n '1,220p' "$SIMREADY_FOUNDATION_ROOT/skills/simready-foundation-conform-fet-005-simulate-grasp-physics/SKILL.md" ``` Run the local router when you already have a validation report, or before final validation to apply deterministic Core and unit repairs: ```bash python3 /path/to/skills/omniverse-cad-to-simready/references/simready-conform-profile/scripts/run.py \ /path/to/output_dir/physics/output_physics.usd \ --output-dir /path/to/output_dir/conform/profile \ --validation-report /path/to/output_dir/validation/simready-profile.json \ --profile Prop-Robotics-Neutral \ --profile-version 1.0.0 \ --source-asset /path/to/source.step \ --pipeline-step usd-convert-cad \ --pipeline-step material-agent-client \ --pipeline-step physics-agent-client \ --report /path/to/output_dir/conform/profile/simready-conform-profile.json ``` For `GSP.001`, pass at least two explicit `--grasp-point x,y,z` values selected from visual evidence. Without explicit points, the router records FET005 as blocked instead of authoring a placeholder grasp line. Run upstream scripts from the Foundation checkout when the upstream skill provides them. For example, after visual review has selected explicit grasp points: ```bash uv run --python 3.12 python "$SIMREADY_FOUNDATION_ROOT/skills/simready-foundation-conform-fet-005-simulate-grasp-physics/scripts/author_grasp_line.py" \ /path/to/output_dir/conform/metadata/asset.usda \ --output /path/to/output_dir/conform/grasp/asset.usda \ --name grasp_identifier_01 \ --point=-0.05,0.0,0.0 \ --point=0.05,0.0,0.0 \ --rationale "vision-reviewed graspable region" \ --report /path/to/output_dir/conform/grasp/author-grasp-line.json ``` Then validate: ```bash python3 /path/to/skills/omniverse-cad-to-simready/references/simready-validate/scripts/run.py /path/to/output_dir/conform/grasp/asset.usda \ --profile Prop-Robotics-Neutral \ --profile-version 1.0.0 \ --foundation-root "$SIMREADY_FOUNDATION_ROOT" \ --report /path/to/output_dir/validation/simready-profile.json ``` ## Output Format The workflow summary should include: | Field | Meaning | |---|---| | `input_usd_path` | USD path received by this workflow. | | `output_usd_path` | Latest authored USD path after conformance. | | `simready_profile` | Selected profile name. | | `profile_version` | Selected profile version. | | `upstream_skill` | Upstream Foundation skill name and URL used for each repair. | | `steps` | Ordered FET conformance step results. | | `reports` | Paths to each selected feature repair JSON report. | | `passed` | Whether all required conformance steps passed. | | `next_step` | Usually `simready-validate`. | ## Limitations - This reference does not predict material, physics, or texture properties. - This reference does not perform final validation; run `simready-validate` after conformance authoring. - For `.usdz`, Core metadata repair may be sidecar-only, but feature repairs that must author USD prims cannot rewrite a sealed package. - Do not guess destructive edits or overwrite source files. - Do not copy upstream SimReady Foundation FET skill docs into this repo. ## Troubleshooting | Symptom | Cause | Fix | |---------|-------|-----| | Foundation skill file is missing | `SIMREADY_FOUNDATION_ROOT` points to the wrong checkout or branch | Check out `https://github.com/NVIDIA/simready-foundation` at `main`. | | Sealed `.usdz` cannot be repaired in place | Feature repairs that author USD prims cannot rewrite a sealed package | Produce or request an unpacked USD-family asset before running prim-level repair. Core metadata repair may still proceed sidecar-only. | | `GSP.001` failure reported as final without classification | Vision-capable inspection or explicit grasp points were not available | Route to upstream `simready-foundation-conform-fet-005-simulate-grasp-physics`. If neither vision nor explicit points are available, report the FET005 step as `blocked`. | | `RB.MB.001` failure reported after Physics Agent | The USD has fewer than two `UsdPhysics.RigidBodyAPI` prims, even if it has many visual or collider prims | Route to upstream `simready-foundation-conform-fet-004-simulate-multi-body-physics` when there are at least two existing component colliders or part roots that represent source parts. If the asset has only one mesh component or one `GeomSubset` component, `simready-validate` treats `RB.MB.001` as non-blocking and preserves it under `ignored_issues`; do not invent geometry. | ## Pass/Fail Policy Fail when: - the input USD asset does not exist - the selected upstream Foundation skill cannot be found - the selected feature repair fails - a required conformance step cannot run because the asset format is unsupported - the output path would overwrite without explicit `--force` Skip when: - a profile family does not require a conformance action, such as prop grasp vectors on a robot body profile - the user explicitly asks to defer a feature repair such as grasp vectors or metadata Warn when: - the Foundation checkout is not pinned to `main` - profile-specific requirements are unknown and only Core metadata repair was authored - a grasp placement needs visual evidence or user-approved explicit points - `.usdz` input prevents in-package grasp vector authoring ## Next Steps After conformance authoring passes, run `simready-validate` with the selected profile and the same Foundation checkout. If validation still fails, use the failed requirement IDs to decide whether to rerun the upstream FET skill with better parameters or add a new upstream SimReady Foundation skill.