SimReady Conform FET-024 Base Articulation

Purpose

Use this workflow skill when the selected profile, validation report, or user request targets FET024_BASE_ARTICULATION_NEUTRAL or FET024_BASE_ARTICULATION_PHYSX. FET024 repairs the base articulation contract for robot-body assets: exactly one articulation root for the articulated mechanism, plus PhysX collision-clearance checks for the PhysX variant.

This is a base-articulation repair skill, not a full robot topology, driven-joint, or collision-generation skill. Work on a staged copy under the requested output directory, preserve composed joint/body behavior, and stop at the first FET024 issue that needs robot topology, root-joint intent, collider redesign, or a PhysX runtime contact check.

Prerequisites

Read the source-of-truth files named below before editing. Work on staged outputs where the skill requires them, and keep validation evidence with the result.

Source of Truth

Before changing an asset, load the exact FET024 manifest selected by the profile: