omniverse-cad-to-simready

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🇺🇸

Original

English

🇨🇳

Translation

Chinese

CAD to SimReady

When to Use

适用场景

Use this workflow skill when the user wants an end-to-end pipeline from a source asset to a SimReady asset or package. This skill coordinates existing conversion, authoring, validation, conformance, rendering, and packaging references directly. Do not replace the workflow with a single monolithic runner command.

This skill is documentation-driven and does not ship

scripts/run.py

. It should not depend on a repository checkout. When a stage needs deterministic execution, run the portable script from that stage reference's installed directory.

Shell

is declared because this workflow invokes installed stage reference scripts directly; it still must not grow a monolithic runner.

当用户需要从源资产到SimReady资产或包的端到端流水线时，使用此工作流技能。该技能直接协调现有的转换、创作、验证、合规性检查、渲染和打包引用。请勿用单一的整体运行器命令替代此工作流。

此技能由文档驱动，不附带

scripts/run.py

文件。它不应依赖于仓库检出。当某个阶段需要确定性执行时，从该阶段引用的安装目录运行可移植脚本。声明

Shell

是因为此工作流直接调用已安装的阶段引用脚本；但仍不得发展为整体运行器。

Prerequisites

前提条件

Prefer running the
```
preflight
```
reference first for deterministic setup. It installs or verifies local upstream checkouts, writes a
```
cad-to-simready-preflight.json
```
manifest, and exports
```
PHYSICAL_AI_PREFLIGHT_MANIFEST
```
plus
```
PHYSICAL_AI_REQUIRE_PREFLIGHT=1
```
for downstream references.
Python 3.12 and
```
uv
```
(per repo
```
README.md
```
).
NVIDIA_API_KEY from
```
https://build.nvidia.com
```
when local Content Agents deployment will run. Already-running endpoints may instead use explicit endpoint variables plus usage tokens such as
```
NGC_API_KEY
```
,
```
NVCF_API_KEY
```
, or
```
CONTENT_AGENTS_*_TOKEN
```
.
Docker, NVIDIA Container Toolkit, and an NVIDIA GPU for Content Agents and OVRTX stages.
Local upstream checkouts under
```
${PHYSICAL_AI_SKILL_HUB_UPSTREAM_ROOT:-$HOME/.physical-ai-skill-hub/upstreams}
```
when a downstream stage needs upstream scripts or specs.

优先运行
```
preflight
```
引用以进行确定性设置。它会安装或验证本地上游检出，写入
```
cad-to-simready-preflight.json
```
清单，并导出
```
PHYSICAL_AI_PREFLIGHT_MANIFEST
```
以及
```
PHYSICAL_AI_REQUIRE_PREFLIGHT=1
```
供下游引用使用。
Python 3.12和
```
uv
```
（详见仓库
```
README.md
```
）。
当运行本地Content Agents部署时，需要从
```
https://build.nvidia.com
```
获取的NVIDIA_API_KEY。对于已在运行的端点，可改用显式端点变量及使用令牌，如
```
NGC_API_KEY
```
、
```
NVCF_API_KEY
```
或
```
CONTENT_AGENTS_*_TOKEN
```
。
Docker、NVIDIA Container Toolkit以及NVIDIA GPU（用于Content Agents和OVRTX阶段）。
本地上游检出需位于
```
${PHYSICAL_AI_SKILL_HUB_UPSTREAM_ROOT:-$HOME/.physical-ai-skill-hub/upstreams}
```
目录下（当下游阶段需要上游脚本或规格时）。

Minimum Viable Scope

最小可行范围

Conversion-only is a valid workflow request. When the user asks only to convert or smoke-test source asset conversion, set

property_assignment_intent=skip

, do not deploy Content Agents, run

convert-to-usd

, then run

validate-usd-minimum

on the generated USD if conversion succeeds.

Do not imply that

uv sync

installs every source converter runtime. URDF, MuJoCo/MJCF, and the repo Python dependencies are handled by the project environment, but NVIDIA-backed source conversion requires an installed and validated

NVIDIA-Omniverse/usd-convert-cad

checkout. If that runtime is missing or does not support the source, preserve the blocked conversion report and its

install_hint

instead of attempting an unrequested local build or substituting another converter.

仅转换是有效的工作流请求。当用户仅要求转换或对源资产转换进行冒烟测试时，设置

property_assignment_intent=skip

，无需部署Content Agents，运行

convert-to-usd

，若转换成功，再对生成的USD运行

validate-usd-minimum

。

请勿暗示

uv sync

会安装所有源转换器运行时。URDF、MuJoCo/MJCF以及仓库Python依赖项由项目环境处理，但NVIDIA支持的源转换需要已安装并验证的

NVIDIA-Omniverse/usd-convert-cad

检出。如果该运行时缺失或不支持源格式，请保留受阻转换报告及其

install_hint

，不要尝试未请求的本地构建或替换其他转换器。

First Action

首要操作

For any broad CAD/source-asset to SimReady request, assume

property_assignment_intent=run

unless the user explicitly asks for conversion-only, validation-only, or no material/physics assignment.

Before invoking converter, validation, Content Agents, OVRTX, packaging, or FET helper scripts, run the

preflight

reference or verify an existing

PHYSICAL_AI_PREFLIGHT_MANIFEST

. Treat preflight as the mandatory dependency bootstrap step, not as workflow routing. If the user explicitly asks not to deploy services or asks for conversion-only/validation-only, use

--skip-content-agents

. When

PHYSICAL_AI_REQUIRE_PREFLIGHT=1

is set and a required component is not ready in the manifest, downstream references must block with the preflight guardrail instead of rediscovering upstreams or services directly.

When

property_assignment_intent=run

, the first operational action after confirming the source path and resolving intent is to verify or deploy Content Agents services. Do this before asset-context inspection, converter dependency checks, conversion, validation, conformance, rendering, packaging, or upstream source builds.

Use healthy existing endpoints when available. If OVRTX, Material, or Physics endpoints are missing or unhealthy, run

deploy-content-agents

first and do not continue until the shared standalone OVRTX renderer plus independent Material and Physics service containers are healthy and exported through

CONTENT_AGENTS_*_BASE_URL

. Deploy the Texture Agent too when texture generation is requested.

If required deployment authentication is missing, ask the user for

NVIDIA_API_KEY

and wait. If a provided endpoint requires usage auth, ask for the appropriate usage token instead. If deployment cannot produce healthy services, report Content Agents readiness as blocked instead of proceeding to conversion.

对于任何从CAD/源资产到SimReady的广泛需求，默认假设

property_assignment_intent=run

，除非用户明确要求仅转换、仅验证或不进行材质/物理属性分配。

在调用转换器、验证、Content Agents、OVRTX、打包或FET辅助脚本之前，运行

preflight

引用或验证现有的

PHYSICAL_AI_PREFLIGHT_MANIFEST

。将预检视为强制性依赖引导步骤，而非工作流路由。如果用户明确要求不部署服务或仅需转换/仅需验证，请使用

--skip-content-agents

。当设置

PHYSICAL_AI_REQUIRE_PREFLIGHT=1

且清单中某个必需组件未就绪时，下游引用必须通过预检防护措施阻止操作，而非直接重新发现上游或服务。

当

property_assignment_intent=run

时，在确认源路径并确定意图后，首要操作是验证或部署Content Agents服务。此操作需在资产上下文检查、转换器依赖项检查、转换、验证、合规性检查、渲染、打包或上游源构建之前完成。

优先使用健康的现有端点。如果OVRTX、材质或物理端点缺失或不健康，请先运行

deploy-content-agents

，直到共享独立OVRTX渲染器以及独立的材质和物理服务容器处于健康状态，并通过

CONTENT_AGENTS_*_BASE_URL

导出后，才可继续。当需要纹理生成时，同时部署Texture Agent。

如果缺少必需的部署认证，请向用户索要

NVIDIA_API_KEY

并等待。如果提供的端点需要使用认证，请索要相应的使用令牌。如果部署无法生成健康服务，请报告Content Agents未就绪，而非继续进行转换。

Instructions

操作步骤

Confirm the source asset path exists, resolve
```
output_root
```
, and classify the request as end-to-end, conversion-only, validation-only, or packaging.
Resolve
```
property_assignment_intent
```
before running any asset inspection, converter probe, conversion, validation, conformance, rendering, or packaging step.
Run
```
preflight
```
for the selected workflow targets, unless a ready
```
PHYSICAL_AI_PREFLIGHT_MANIFEST
```
is already configured. Source the generated env file before running downstream scripts. Treat preflight as dependency setup only: it may use a provided
```
--source-asset
```
,
```
--source-format
```
, or
```
--conversion-tools
```
value to scope dependency checks, but
```
convert-to-usd
```
and the upstream converter references still decide actual conversion support.
Verify or deploy Content Agents services first when
```
property_assignment_intent=run
```
; block on missing authentication or unhealthy services instead of continuing.
Read
```
references/workflow.md
```
and
```
references/commands.md
```
, then run only the stage references needed for the current request.
Run
```
identify-asset-context
```
on the original source asset when web search is available or property assignment will run.
Route the source through
```
convert-to-usd
```
, or skip conversion for existing USD input and treat the source path as the current USD path.
Run
```
validate-usd-minimum
```
before expensive downstream work. Treat this as a viability gate only: record unit/profile issues such as
```
metersPerUnit != 1.0
```
, but do not run
```
simready-conform-profile
```
, FET001, or any other FET repair before Content Agents assignment when property assignment will run.
Run Content Agents material, physics, and optional texture assignment on the converted/minimum-valid USD when requested or required.
Run
```
simready-conform-profile
```
on the latest simulation USD path after property assignment and preserve every selected FET repair report.

Run validation gates in order:

omni-asset-validate

omni-asset-validate-geometry

omni-asset-validate-physics

, and

simready-validate

Rerun
```
simready-conform-profile
```
when
```
simready-validate
```
reports a repairable requirement, then rerun profile validation on the newest authored USD.
Run
```
ovrtx-render-service
```
when preview, thumbnail, or inspection images are requested. When package outputs are requested, run
```
assemble-package-source
```
next to create the clean
```
deliverable/
```
package source from the final USD and thumbnail, then run
```
nv-core-package-sample
```
and
```
nv-core-package-sample-validation
```
on that deliverable folder only.
Emit the consolidated workflow report with the final USD path, all stage reports, validation findings, rerun reasons, and next work.

Use the

simready-conform-profile

reference only after property assignment when

property_assignment_intent=run

. It routes feature repair to upstream SimReady Foundation FET skills such as

simready-foundation-conform-fet-000-core

simready-foundation-conform-fet-001-minimal

simready-foundation-conform-fet-004-simulate-multi-body-physics

, and

simready-foundation-conform-fet-005-simulate-grasp-physics

from branch

main

simready-validate

reports a repairable requirement after the first conformance pass, feed the structured requirement IDs back into the

simready-conform-profile

reference before writing the final result. In particular,

GSP.001

is owned by upstream

simready-foundation-conform-fet-005-simulate-grasp-physics

; run that skill when a vision-capable agent can inspect visual evidence or explicit grasp points were provided, otherwise record the FET005 step as blocked by missing vision/points instead of treating it as an optional preview task. For

RB.MB.001

, route the failure to upstream

simready-foundation-conform-fet-004-simulate-multi-body-physics

. Do not assume multiple visual prims are multiple rigid bodies; inspect

UsdPhysics.RigidBodyAPI

applications. When the Physics Agent report shows composed topology optimization or the USD has existing component colliders/part roots and the profile validator reports FET004/RB.MB.001, FET004 should promote those existing components into rigid bodies without creating geometry. Do not mark the gate not applicable until after confirming there are fewer than two reusable body candidates.

确认源资产路径存在，解析
```
output_root
```
，并将请求分类为端到端、仅转换、仅验证或打包。
在运行任何资产检查、转换器探测、转换、验证、合规性检查、渲染或打包步骤之前，先解析
```
property_assignment_intent
```
。
为选定的工作流目标运行
```
preflight
```
，除非已配置就绪的
```
PHYSICAL_AI_PREFLIGHT_MANIFEST
```
。在运行下游脚本前，先加载生成的环境文件。仅将预检视为依赖设置：它可使用提供的
```
--source-asset
```
、
```
--source-format
```
或
```
--conversion-tools
```
值来限定依赖项检查范围，但实际转换支持仍由
```
convert-to-usd
```
和上游转换器引用决定。
当
```
property_assignment_intent=run
```
时，先验证或部署Content Agents服务；若缺失认证或服务不健康，则阻止操作，不得继续。
阅读
```
references/workflow.md
```
和
```
references/commands.md
```
，然后仅运行当前请求所需的阶段引用。
当可进行网络搜索或即将运行属性分配时，对原始源资产运行
```
identify-asset-context
```
。
将源通过
```
convert-to-usd
```
进行转换；若输入为现有USD，则跳过转换，将源路径视为当前USD路径。
在进行昂贵的下游工作之前，运行
```
validate-usd-minimum
```
。仅将此视为可行性关卡：记录诸如
```
metersPerUnit != 1.0
```
的单位/配置文件问题，但当即将运行属性分配时，在Content Agents分配之前，不要运行
```
simready-conform-profile
```
、FET001或任何其他FET修复操作。
当请求或需要时，对转换后的/最小验证通过的USD运行Content Agents的材质、物理以及可选纹理分配。
在属性分配完成后，对最新的模拟USD路径运行
```
simready-conform-profile
```
，并保留所有选定的FET修复报告。

按顺序运行验证关卡：

omni-asset-validate

、

omni-asset-validate-geometry

、

omni-asset-validate-physics

和

simready-validate

。

当
```
simready-validate
```
报告可修复的需求时，重新运行
```
simready-conform-profile
```
，然后对最新创作的USD重新运行配置文件验证。
当请求预览图、缩略图或检查图像时，运行
```
ovrtx-render-service
```
。当请求包输出时，接下来运行
```
assemble-package-source
```
，从最终USD和缩略图创建干净的
```
deliverable/
```
包源，然后仅对该交付文件夹运行
```
nv-core-package-sample
```
和
```
nv-core-package-sample-validation
```
。
生成整合的工作流报告，包含最终USD路径、所有阶段报告、验证结果、重新运行原因以及后续工作建议。

仅当

property_assignment_intent=run

且在属性分配完成后，才可使用

simready-conform-profile

引用。它会将功能修复路由到上游SimReady Foundation FET技能，如

simready-foundation-conform-fet-000-core

、

simready-foundation-conform-fet-001-minimal

、

simready-foundation-conform-fet-004-simulate-multi-body-physics

和

simready-foundation-conform-fet-005-simulate-grasp-physics

（来自

main

分支）。

如果在第一次合规性检查后，

simready-validate

报告可修复的需求，请将结构化需求ID反馈到

simready-conform-profile

引用中，再写入最终结果。特别是，

GSP.001

由上游

simready-foundation-conform-fet-005-simulate-grasp-physics

负责；当具备视觉能力的代理可检查视觉证据或提供了明确抓取点时，运行该技能，否则记录FET005步骤因缺少视觉/点而受阻，不要将其视为可选预览任务。对于

RB.MB.001

，将失败路由到上游

simready-foundation-conform-fet-004-simulate-multi-body-physics

。不要假设多个视觉图元是多个刚体；检查

UsdPhysics.RigidBodyAPI

的应用情况。当Physics Agent报告显示组合拓扑优化，或USD已有组件碰撞器/部件根，且配置文件验证器报告FET004/RB.MB.001时，FET004应将这些现有组件升级为刚体，无需创建几何图形。在确认可重用的刚体候选少于两个之前，不要标记该关卡不适用。

Output Format

输出格式

Emit a consolidated workflow report in Markdown, and include JSON when the workflow writes structured artifacts. The report must include:

Overall status:
```
passed
```
,
```
blocked
```
,
```
failed
```
, or
```
needs_rerun
```
.
Request summary: source asset path, detected source format, output root, selected SimReady profile/version, and property assignment intent.
Ordered stage results: stage reference, input artifact, output USD or USDZ path, report path, status, blocker reason, and rerun reason when applicable.
Content Agents readiness and property assignment results with service URLs, tokens, and credentials redacted.
Conformance and validation findings grouped by gate, requirement ID, selected FET repair reference, repair-loop attempt, and final disposition.
Final artifacts: final reported USD path, render preview path when requested, package root and package validation report when packaging ran, Markdown report path, JSON report path when present, and recommended next work.

生成Markdown格式的整合工作流报告，当工作流写入结构化工件时，需包含JSON内容。报告必须包含：

整体状态：
```
passed
```
、
```
blocked
```
、
```
failed
```
或
```
needs_rerun
```
。
请求摘要：源资产路径、检测到的源格式、输出根目录、选定的SimReady配置文件/版本以及属性分配意图。
有序的阶段结果：阶段引用、输入工件、输出USD或USDZ路径、报告路径、状态、受阻原因以及适用的重新运行原因。
Content Agents就绪状态和属性分配结果（服务URL、令牌和凭证已脱敏）。
按关卡、需求ID、选定的FET修复引用、修复循环尝试和最终处理分组的合规性和验证结果。
最终工件：最终报告的USD路径、请求时的渲染预览路径、打包运行时的包根目录和包验证报告、Markdown报告路径（若有则包含JSON报告路径）以及建议的后续工作。

Detailed References

详细参考资料

Read only the references needed for the current request:

```
references/preflight/README.md
```
: deterministic local setup, manifest/env contract, Linux and Windows wrappers, Content Agents deployment opt-out, and guardrail behavior.
```
references/workflow.md
```
: inputs, source routing, detailed workflow, validation policy, output report fields, approval points, and next steps.
```
references/commands.md
```
: concrete portable script command patterns for each stage.
```
references/assemble-package-source/README.md
```
: two-zone package source assembly, canonical root USD naming, thumbnail placement, and self-contained deliverable checks.

仅阅读当前请求所需的参考资料：

```
references/preflight/README.md
```
：确定性本地设置、清单/环境契约、Linux和Windows包装器、Content Agents部署退出选项以及防护措施行为。
```
references/workflow.md
```
：输入、源路由、详细工作流、验证策略、输出报告字段、审批点和后续步骤。
```
references/commands.md
```
：每个阶段的具体可移植脚本命令模式。
```
references/assemble-package-source/README.md
```
：双区域包源组装、规范根USD命名、缩略图放置以及自包含交付检查。

Publishing Layout Notes

发布布局说明

Use

skills/omniverse-cad-to-simready/

as the source of truth for this product repo's skill. The

.agents/skills

symlink is a compatibility alias for local agentskills.io-style discovery, and

.codex/skills

and

.claude/skills

are agent-specific compatibility aliases.

Frontmatter keeps

version

and

tools

at top level for agentskills.io runtime compatibility. NVCARPS discoverability fields live under

metadata

The nested

references/

tree is intentional. It keeps one public catalog skill while retaining script-bearing atomic stage references, upstream handoff notes, and router documentation under the workflow. Do not flatten those references or promote nested README references to sibling

SKILL.md

files unless the repo's publishing model changes.

使用

skills/omniverse-cad-to-simready/

作为此产品仓库中该技能的可信源。

.agents/skills

符号链接是针对本地agentskills.io式发现的兼容性别名，

.codex/skills

和

.claude/skills

是针对特定代理的兼容性别名。

Frontmatter将

version

和

tools

放在顶层，以兼容agentskills.io运行时。NVCARPS可发现性字段位于

metadata

下。

嵌套的

references/

目录结构是有意设计的。它在保留脚本承载的原子阶段引用、上游移交说明和路由文档的同时，维护一个公开目录技能。除非仓库的发布模型更改，否则不要扁平化这些引用或将嵌套的README引用提升为同级

SKILL.md

文件。

Limitations

限制条件

This workflow coordinates existing conversion, property assignment, conformance, validation, rendering, and packaging skills; it does not replace them with a single monolithic runner command.
Stop at the first failing deployment, conversion, property-assignment, or conformance authoring gate unless the user explicitly asks for best-effort continuation.
Upstream
```
simready-foundation-conform-fet-005-simulate-grasp-physics
```
needs visual review or explicit grasp points before it can author a meaningful grasp vector.

此工作流协调现有的转换、属性分配、合规性检查、验证、渲染和打包技能；它不会用单一的整体运行器命令替代这些技能。
除非用户明确要求尽力继续，否则在遇到第一个失败的部署、转换、属性分配或合规性创作关卡时停止操作。
上游
```
simready-foundation-conform-fet-005-simulate-grasp-physics
```
需要视觉审查或明确抓取点，才能创作有意义的抓取向量。

Troubleshooting

故障排除

Symptom	Cause	Fix
Downstream reference reports that cad-to-simready preflight has not prepared a component	`PHYSICAL_AI_REQUIRE_PREFLIGHT=1` is set, but the manifest is missing or the required runtime/service is not `ready`	Run `preflight/scripts/preflight.py` , source the generated env file, or explicitly disable service deployment with `--skip-content-agents` only when Content Agents are out of scope.
Workflow stops on `GSP.001` and reports the failure as unclassified	Visual evidence or explicit grasp points were not provided to FET005	Run upstream `simready-foundation-conform-fet-005-simulate-grasp-physics` only after a vision-capable agent has reviewed the asset, or pass explicit grasp points. Otherwise report the FET005 step as `blocked` , not failed.
Validation fails after a meaningful USD artifact already exists	Workflow stopped at the first validation finding	Continue remaining diagnostic gates and mark the result `needs_rerun` . Do not stop at validation findings once a USD artifact has been produced.
Property-assignment stage fails with a missing service endpoint	Content Agents service was not deployed before conversion	Run `deploy-content-agents` first. Do not start asset inspection, conversion, validation, conformance, rendering, or packaging before Content Agents readiness when property assignment will run.
Material Agent reports that rendering produced `0 images` after unit or profile repair	A FET repair, commonly FET001 unit normalization, was applied before Material Agent and changed the USD layering/scene state consumed by the service	Rerun assignment from the converted/minimum-valid USD: Material Agent first, then Physics Agent, then run `simready-conform-profile` and FET repairs on the latest service-authored USD.
Material or Physics Agent local optimized path reports `Permission denied: '/app/.build-resources/scene_optimizer_core/python'`	Local Docker Scene Optimizer bundle permissions prevent the non-root service user from reading the packaged SO runtime	Repair the relevant local container with `docker exec --user root content-material-agent-service chmod -R a+rX /app/.build-resources/scene_optimizer_core` or `docker exec --user root content-physics-agent-service chmod -R a+rX /app/.build-resources/scene_optimizer_core` , then rerun the same optimized agent command. Do not treat the no-optimizer fallback as the root cause for instanced/prototype assets.
`RB.MB.001` fails even though the asset has many prims	The profile counts `UsdPhysics.RigidBodyAPI` prims, not visual or collider prims; Physics Agent may author one root rigid body	Route to upstream `simready-foundation-conform-fet-004-simulate-multi-body-physics` . First ensure Physics Agent used composed-topology optimization when applicable, then promote existing component colliders/part roots when the active profile reports FET004/RB.MB.001 and no geometry must be invented.

症状	原因	修复方法
下游引用报告cad-to-simready预检未准备好组件	设置了 `PHYSICAL_AI_REQUIRE_PREFLIGHT=1` ，但清单缺失或所需运行时/服务未处于 `ready` 状态	运行 `preflight/scripts/preflight.py` ，加载生成的环境文件；仅当Content Agents不在范围内时，才使用 `--skip-content-agents` 显式禁用服务部署。
工作流在 `GSP.001` 处停止，并报告失败为未分类	未向FET005提供视觉证据或明确抓取点	仅当具备视觉能力的代理已审查资产，或传递了明确抓取点后，才运行上游 `simready-foundation-conform-fet-005-simulate-grasp-physics` ；否则报告FET005步骤为 `blocked` （受阻），而非失败。
在已有可用的USD工件后，验证失败	工作流在第一个验证结果处停止	继续剩余的诊断关卡，并将结果标记为 `needs_rerun` （需要重新运行）。一旦生成USD工件，不要因验证结果而停止操作。
属性分配阶段因缺少服务端点而失败	在转换前未部署Content Agents服务	先运行 `deploy-content-agents` 。当即将运行属性分配时，在Content Agents就绪前，不要开始资产检查、转换、验证、合规性检查、渲染或打包。
在单位或配置文件修复后，Material Agent报告渲染生成 `0 images`	在Material Agent之前应用了FET修复（通常是FET001单位标准化），更改了服务使用的USD分层/场景状态	从转换后的/最小验证通过的USD重新运行分配：先运行Material Agent，再运行Physics Agent，然后对最新的服务创作USD运行 `simready-conform-profile` 和FET修复。
Material或Physics Agent本地优化路径报告 `Permission denied: '/app/.build-resources/scene_optimizer_core/python'`	本地Docker Scene Optimizer捆绑包权限阻止非根服务用户读取打包的SO运行时	使用 `docker exec --user root content-material-agent-service chmod -R a+rX /app/.build-resources/scene_optimizer_core` 或 `docker exec --user root content-physics-agent-service chmod -R a+rX /app/.build-resources/scene_optimizer_core` 修复相关本地容器，然后重新运行相同的优化代理命令。不要将无优化器回退视为实例化/原型资产的根本原因。
即使资产有许多图元， `RB.MB.001` 仍失败	配置文件统计的是 `UsdPhysics.RigidBodyAPI` 图元，而非视觉或碰撞器图元；Physics Agent可能创作了一个根刚体	路由到上游 `simready-foundation-conform-fet-004-simulate-multi-body-physics` 。首先确保Physics Agent在适用时使用了组合拓扑优化，然后当活动配置文件报告FET004/RB.MB.001且无需创建几何图形时，升级现有组件碰撞器/部件根。

Hard Rules

硬性规则

Prefer the preflight manifest for local upstream roots, converter executables, SimReady validation runtime, OVRTX endpoint, and Content Agents service URLs. When
```
PHYSICAL_AI_REQUIRE_PREFLIGHT=1
```
is set, do not bypass the manifest with direct upstream discovery.
Do not run asset inspection, converter probes, local upstream builds, conversion, validation, conformance, rendering, or packaging before Content Agents readiness when property assignment will run.
Use stage-specific installed reference scripts directly. Do not add or call a single
```
omniverse-cad-to-simready
```
runner command.
For source conversion, delegate to the
```
convert-to-usd
```
reference; do not substitute another converter for CAD or mesh formats.
For property assignment, use Content Agents references as separate atomic steps: material first, then physics, then texture only when requested.
When property assignment will run, do not run
```
simready-conform-profile
```
or any FET helper before Content Agents. Validate minimum USD first, then run Content Agents on that converted/minimum-valid USD, then apply FET repairs to the latest service-authored USD.
When property assignment will run, do not run
```
simready-validate
```
or any SimReady profile validation before Content Agents. The only validation gate allowed before service calls is
```
validate-usd-minimum
```
, which is a basic USD viability check.
Stop at the first failing deployment, conversion, property-assignment, or conformance authoring gate unless the user explicitly asks for best-effort continuation.
Do not stop at validation findings after a meaningful USD artifact exists. Continue remaining diagnostic gates and mark the result
```
needs_rerun
```
.
Do not leave a
```
GSP.001
```
profile failure as an unclassified final finding. Route it to upstream
```
simready-foundation-conform-fet-005-simulate-grasp-physics
```
; if the current agent cannot inspect renders or no explicit grasp points are available, report a blocked FET005 repair with the visual evidence path or missing input reason.
Preserve every stage report and pass the concrete output USD path from each report into the next stage.

优先使用预检清单获取本地上游根目录、转换器可执行文件、SimReady验证运行时、OVRTX端点和Content Agents服务URL。当设置
```
PHYSICAL_AI_REQUIRE_PREFLIGHT=1
```
时，不要通过直接上游发现绕过清单。
当即将运行属性分配时，在Content Agents就绪前，不要运行资产检查、转换器探测、本地上游构建、转换、验证、合规性检查、渲染或打包。
直接使用特定阶段的已安装引用脚本。不要添加或调用单一的
```
omniverse-cad-to-simready
```
运行器命令。
对于源转换，委托给
```
convert-to-usd
```
引用；不要为CAD或网格格式替换其他转换器。
对于属性分配，将Content Agents引用作为单独的原子步骤使用：先运行材质分配，再运行物理分配，仅当请求时才运行纹理分配。
当即将运行属性分配时，在Content Agents之前不要运行
```
simready-conform-profile
```
或任何FET辅助工具。先验证最小USD，然后对该转换后的/最小验证通过的USD运行Content Agents，再对最新的服务创作USD应用FET修复。
当即将运行属性分配时，在Content Agents之前不要运行
```
simready-validate
```
或任何SimReady配置文件验证。在服务调用前仅允许
```
validate-usd-minimum
```
这一个验证关卡，它是基本的USD可行性检查。
除非用户明确要求尽力继续，否则在遇到第一个失败的部署、转换、属性分配或合规性创作关卡时停止操作。
在生成可用的USD工件后，不要因验证结果而停止操作。继续剩余的诊断关卡，并将结果标记为
```
needs_rerun
```
。
不要将
```
GSP.001
```
配置文件失败留作未分类的最终结果。将其路由到上游
```
simready-foundation-conform-fet-005-simulate-grasp-physics
```
；如果当前代理无法检查渲染结果或没有可用的明确抓取点，请报告FET005修复受阻，并说明视觉证据路径或缺失输入的原因。
保留每个阶段的报告，并将每个报告中的具体输出USD路径传递到下一个阶段。