Omniverse Cad To Simready Agent Skill

CAD to SimReady

When to Use

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.

Prerequisites

• 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.

Minimum Viable Scope

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.

First Action

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.

Instructions

• 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.

10. Run simready-conform-profile on the latest simulation USD path after

property assignment and preserve every selected FET repair report.

11. Run validation gates in order: omni-asset-validate,

omni-asset-validate-geometry, omni-asset-validate-physics, and

simready-validate.

12. Rerun simready-conform-profile when simready-validate reports a

repairable requirement, then rerun profile validation on the newest authored

USD.

13. 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.

14. 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.

If 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.

Output Format

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.

Detailed References

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.

Publishing Layout Notes

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.

Limitations

• 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.

Troubleshooting

| 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. |

Hard Rules

• 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.