SimReady Conform FET-005 Simulate Grasp Physics

Purpose

Use this workflow skill after Core, Minimal, and rigid-body requirements are already in a reasonable state and the next profile validation gate is FET005_BASE_NEUTRAL. It adds or repairs a USD grasp vector line that tells a robotic gripper where to grasp the asset.

This is a visual-semantic authoring skill, not a bounding-box shortcut. The grasp line must be chosen from visual evidence of the asset shape and intended grasp behavior, then authored deterministically as a UsdGeom.BasisCurves prim.

Capability Gate

This skill requires a vision-capable agent or model. Before authoring, replacing, or invoking any script that creates a grasp line, confirm that the current agent can inspect visual evidence directly, such as renders, screenshots, viewport captures, or generated mesh previews.

If the current agent cannot use vision, stop immediately. Do not add or repair a grasp line from bounds, text metadata, file names, validator failures, or user descriptions alone. Tell the user that FET005 grasp-line repair requires a vision-capable model/agent and ask them to rerun this skill with vision enabled.