proofmass-check 0.1.0__tar.gz

proofmass_check-0.1.0/.gitattributes

@@ -0,0 +1,5 @@
+# Keep LF line endings in the repository, also when it is edited on Windows.
+* text=auto eol=lf
+*.usd binary
+*.usdc binary
+*.usdz binary

proofmass_check-0.1.0/.github/CODEOWNERS

@@ -0,0 +1 @@
+* @pawelkikta

proofmass_check-0.1.0/.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,40 @@
+name: Wrong result or crash
+description: A check gives a result you think is wrong, or proofmass-check stops with an error.
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thank you. Please attach results.json: it holds the versions and every number we need.
+        Questions about installing Isaac Sim or Newton belong to NVIDIA's forums, not here.
+  - type: dropdown
+    id: engine
+    attributes:
+      label: Engine
+      options: [physx, newton]
+    validations:
+      required: true
+  - type: textarea
+    id: what
+    attributes:
+      label: What happened, and what did you expect?
+    validations:
+      required: true
+  - type: textarea
+    id: command
+    attributes:
+      label: The command you ran
+      render: shell
+    validations:
+      required: true
+  - type: textarea
+    id: results
+    attributes:
+      label: results.json
+      description: Drag the file here, or paste it.
+    validations:
+      required: true
+  - type: input
+    id: asset
+    attributes:
+      label: Where can we get the asset?
+      description: A link, if the asset is public. We never ask you to share a private asset.

proofmass_check-0.1.0/.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,5 @@
+blank_issues_enabled: true
+contact_links:
+  - name: Isaac Sim installation and setup
+    url: https://docs.isaacsim.omniverse.nvidia.com/
+    about: Installing or running Isaac Sim itself is covered by NVIDIA's documentation.

proofmass_check-0.1.0/.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,8 @@
+## What this changes and why
+
+## Checklist
+
+- [ ] `uv run ruff check .`, `uv run ruff format --check .` and `uv run pytest` pass.
+- [ ] A change to a rule or a number also changes `docs/spec.md`, `SPEC_VERSION` and `CHANGELOG.md`.
+- [ ] A change to a check was run on a real engine; the PR says which engine, version and assets.
+- [ ] Comments follow "How we write comments" in `CONTRIBUTING.md`.

proofmass_check-0.1.0/.github/dependabot.yml

@@ -0,0 +1,6 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: /
+    schedule:
+      interval: monthly

proofmass_check-0.1.0/.github/workflows/ci.yml

@@ -0,0 +1,27 @@
+# Lint and unit tests. The checks that need Isaac Sim or Newton on a GPU are marked "gpu"
+# and do not run here; see CONTRIBUTING.md.
+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+permissions:
+  contents: read
+
+jobs:
+  test:
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, windows-latest]
+        python: ["3.11", "3.12"]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v7
+      - uses: astral-sh/setup-uv@v7
+      - run: uv sync --locked --python ${{ matrix.python }}
+      - run: uv run ruff check .
+      - run: uv run ruff format --check .
+      - run: uv run pytest

proofmass_check-0.1.0/.github/workflows/release.yml

@@ -0,0 +1,37 @@
+# Builds the package for a version tag (v0.1.0) and publishes it to PyPI.
+# Publishing uses PyPI Trusted Publishing, so there is no API token in the repository secrets.
+# Before the first release, add this repository as a trusted publisher on PyPI
+# (workflow "release.yml", environment "pypi").
+name: Release
+
+on:
+  push:
+    tags: ["v*"]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7
+      - uses: astral-sh/setup-uv@v7
+      - run: uv build
+      - uses: actions/upload-artifact@v7
+        with:
+          name: dist
+          path: dist/
+
+  publish:
+    needs: build
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v8
+        with:
+          name: dist
+          path: dist/
+      - uses: pypa/gh-action-pypi-publish@release/v1

proofmass_check-0.1.0/.gitignore

@@ -0,0 +1,11 @@
+__pycache__/
+*.py[cod]
+.venv/
+build/
+dist/
+*.egg-info/
+.pytest_cache/
+.ruff_cache/
+
+# results of local runs
+proofmass-check-*/

proofmass_check-0.1.0/CHANGELOG.md

@@ -0,0 +1,27 @@
+# Changelog
+
+All notable changes to this project are written here. The format follows
+[Keep a Changelog](https://keepachangelog.com/en/1.1.0/), and versions follow
+[Semantic Versioning](https://semver.org/). While the version is 0.x, a MINOR version can change
+how checks decide. A change to a rule or a number in docs/spec.md always raises the MINOR version
+and the spec version.
+
+## [Unreleased]
+
+## [0.1.0] - 2026-11-15
+
+The first release. The checks follow docs/spec.md, version 0.2.
+
+### Added
+
+- The checks LOAD, DROP, HOLD, TRACK, LIMIT, STABLE, SPEED, PASSIVE, GRIP and SHAKE.
+- Wheeled robots: STAND, DRIVE, TURN and STEER, and joint checks with the base held up.
+  They read the robot's wheels from SimReady_Metadata.mobile (docs/wheeled-robots.md).
+- A USD reader for packages from any maker, in SI units.
+- A plan that decides which checks apply to an asset, the same way for every engine.
+- results.json with a JSON Schema.
+- The `proofmass-check` command: `run` and `list-checks`.
+- Engines: PhysX in Isaac Sim 6.1, and Newton as an experiment.
+
+[Unreleased]: https://github.com/proofmass/proofmass-check/compare/v0.1.0...HEAD
+[0.1.0]: https://github.com/proofmass/proofmass-check/releases/tag/v0.1.0

proofmass_check-0.1.0/CONTRIBUTING.md

@@ -0,0 +1,113 @@
+# Contributing
+
+Thank you for helping. This page says how the project is built, how to change it, and how we
+write code and comments.
+
+## Set up
+
+You need [uv](https://docs.astral.sh/uv/).
+
+```bash
+uv sync
+uv run pytest
+uv run ruff check .
+uv run ruff format --check .
+```
+
+These need no GPU and no engine. They run in CI on Linux and Windows.
+
+## How the code is built
+
+| Module | What it does |
+|---|---|
+| `usd_reader.py` | reads the USD into the classes of `model.py`, in SI units |
+| `model.py` | `Asset`, `Body`, `Joint`, `GripperSite` |
+| `rules.py` | every number of the spec, in one place |
+| `plan.py` | which checks apply to an asset, and why the others do not |
+| `checks/` | one module per check: what it asks the engine, and how it decides |
+| `engines/base.py` | the `Engine` protocol: the operations an engine must give |
+| `engines/<name>.py` | one engine adapter |
+| `runner.py` | runs the plan on one engine |
+| `report.py` | writes `results.json` |
+
+An engine only simulates. It never decides which checks run or whether they pass. This keeps the
+engines comparable: a different result in two engines comes from the engines, not from our code.
+
+## Changing a rule or a number
+
+A rule or a number is part of the spec. To change one:
+
+1. Change `rules.py` and `docs/spec.md` together. `tests/test_spec.py` fails when they differ.
+2. Raise `SPEC_VERSION` in `rules.py`.
+3. Add a line to `CHANGELOG.md` that says what changed and why.
+4. In the pull request, say which engine, engine version and assets you ran it on, and what changed
+   in their results.
+
+## Adding a check
+
+1. Write down the rule in `docs/spec.md` first: what it checks in one sentence, why, the setup and
+   the pass rule.
+2. Add the module in `checks/`, its title in `checks/__init__.py`, and when it applies in `plan.py`.
+3. If the check needs a new engine operation, add it to `engines/base.py` and to every engine. An
+   engine that cannot do it yet leaves the check out of its `supported` set, and the plan reports
+   `N/A`.
+4. Add unit tests with `tests/fake_engine.py`.
+
+## Adding an engine
+
+Implement the `Engine` protocol in `engines/base.py` in a new module with a `create()` function,
+and add it to `ENGINES` in `engines/__init__.py`. Import the engine's own packages inside that
+module only.
+
+## Tests that need a GPU
+
+Tests that run a real engine have the `gpu` marker and are in `tests/test_engines_gpu.py`. They do
+not run in CI. Run them in the engine's Python environment, with pytest installed there:
+
+```bash
+pytest tests/test_engines_gpu.py -m gpu --engine physx
+```
+
+```bash
+pytest tests/test_engines_gpu.py -m gpu --engine newton
+```
+
+Give the file name: the other test files import pxr when pytest collects them, and in Isaac Sim
+pxr exists only after Isaac Sim has started. Isaac Sim ends the process when it closes, so
+`conftest.py` closes the engine after pytest's summary, with pytest's exit status.
+
+Run them for every change to an engine adapter or to a check, and say in the pull request which
+engine versions you used.
+
+## How we write comments
+
+Write for a person who knows Python and physics, but not this code.
+
+- Say why, not what. The code already says what.
+- One idea per sentence. Split a sentence that has a semicolon or a second colon.
+- Give the unit every time: m, kg, s, rad, N, N m.
+- Use one name for one thing. A "joint" is not also an "axis" or a "DOF" in the next line.
+- When a rule comes from somewhere, name it: an NVIDIA rule ID, a section of the spec, an engine
+  issue.
+- No history ("changed on...", "used to..."). Git and `CHANGELOG.md` keep history.
+- No notes to yourself ("kept", "hack", "see above"). Write the full sentence.
+- A docstring starts with what the function returns or does, in one sentence. Details follow as
+  short sentences or a list.
+
+Before: `# kept: its prims expire with it`
+After: `# Keep a reference to the stage. Its prims become invalid when the stage is freed.`
+
+## Code style
+
+- `ruff` formats and lints the code. Lines are at most 120 characters.
+- Type hints on functions that other modules call.
+- Full names for values that travel between functions (`settings`, not `st`). Short names are
+  fine inside a few lines.
+- Every file starts with the two SPDX lines (copyright and license).
+
+## Pull requests
+
+- One change per pull request. The title says what changes, for example "PASSIVE: push from the
+  handle of a revolute joint".
+- We merge with squash, so the title becomes the commit message.
+- By sending a pull request, you agree that your contribution is licensed under Apache-2.0.

proofmass_check-0.1.0/LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

proofmass_check-0.1.0/NOTICE

@@ -0,0 +1,5 @@
+proofmass-check
+Copyright 2026 Paweł Kikta
+Developed by Proofmass (https://proofmass.com)
+
+This product is licensed under the Apache License, Version 2.0 (see LICENSE).

proofmass_check-0.1.0/PKG-INFO

@@ -0,0 +1,138 @@
+Metadata-Version: 2.5
+Name: proofmass-check
+Version: 0.1.0
+Summary: Physics checks for SimReady OpenUSD assets: does the asset behave in a simulator?
+Project-URL: Homepage, https://github.com/proofmass/proofmass-check
+Project-URL: Issues, https://github.com/proofmass/proofmass-check/issues
+Project-URL: Changelog, https://github.com/proofmass/proofmass-check/blob/main/CHANGELOG.md
+Author: Paweł Kikta
+License-Expression: Apache-2.0
+License-File: LICENSE
+License-File: NOTICE
+Keywords: isaac-sim,newton,openusd,physics,robotics,simready,simulation
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Operating System :: Microsoft :: Windows
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Multimedia :: Graphics :: 3D Modeling
+Classifier: Topic :: Scientific/Engineering :: Physics
+Requires-Python: >=3.11
+Requires-Dist: numpy>=1.26
+Provides-Extra: usd
+Requires-Dist: usd-core>=25.5; extra == 'usd'
+Description-Content-Type: text/markdown
+
+# proofmass-check
+
+**Does this asset behave in a simulator?**
+
+proofmass-check runs a fixed set of physics checks on a SimReady OpenUSD asset: it does not fall
+through the floor, its drives hold and reach their targets, its doors and drawers open, its gripper
+holds its rated payload. Each check has one pass rule and fixed numbers, written in
+[docs/spec.md](docs/spec.md).
+
+A metadata validator tells you that an asset follows the rules. proofmass-check tells you what the
+asset does when physics runs.
+
+> **Status: alpha, in development.** The checks run in PhysX (Isaac Sim 6.1) and, as an
+> experiment, in Newton. The rules and numbers may still change before version 1.0; each change
+> raises the spec version.
+
+## The checks
+
+| ID | What it checks | Runs on |
+|---|---|---|
+| `LOAD` | The engine builds every joint and the same total mass as the USD | every asset |
+| `DROP` | Dropped from 10 cm, it comes to rest on the floor | assets that are not fixed to the world and have no position drives |
+| `HOLD` | Drives hold the rest pose under gravity | joints with a position drive |
+| `TRACK` | Drives reach 25 % and 75 % of their range | driven joints with limits |
+| `LIMIT` | Limits stop a drive commanded past them | driven joints with limits |
+| `STABLE` | No explosion in random poses inside the limits | driven joints with limits |
+| `SPEED` | At a 60 Hz physics step, drives stay under their speed limits | driven joints with limits and a speed limit |
+| `PASSIVE` | A door or drawer, pushed, reaches both limits and stops there | limited joints without a position drive |
+| `GRIP` | The gripper holds 85 % of its rated payload, pulled two ways | gripper sites (NVIDIA rules GR.001 to GR.004) |
+| `SHAKE` | The grip holds that load shaken at up to 2 g | gripper sites |
+| `STAND` | Dropped with its wheels braked, it stands upright and still | wheeled robots |
+| `DRIVE` | It drives straight along +X at the commanded speed | wheeled robots |
+| `TURN` | It turns in place at the expected rate | differential and skid-steer robots |
+| `STEER` | It drives the circle its steering gives | Ackermann robots |
+
+A check that does not apply to an asset reports `N/A` with the reason. `N/A` does not fail a run.
+
+A wheeled robot needs a short description of its wheels in the USD: see
+[docs/wheeled-robots.md](docs/wheeled-robots.md).
+
+## Engines
+
+| Engine | Status | Runs in | Not yet |
+|---|---|---|---|
+| `physx` | reference engine | Isaac Sim 6.1's Python | joints between free rigid bodies get LOAD, DROP and PASSIVE only |
+| `newton` | experimental, needs an NVIDIA GPU; results can differ from run to run ([spec, section 5](docs/spec.md#5-engines)) | a Python with `newton[sim,importers]` | SPEED; STAND, DRIVE, TURN, STEER; the single axes of a D6 joint |
+
+proofmass-check runs in the Python environment that has the engine. It does not look for other
+Python installations.
+
+**NVIDIA license.** Isaac Sim asks you to accept the NVIDIA Omniverse License Agreement the first
+time it starts. proofmass-check never accepts it for you.
+
+## Install
+
+Install it in the Python environment of your engine: Isaac Sim's Python for `physx`, or the Python
+that has Newton for `newton`.
+
+```bash
+pip install proofmass-check
+```
+
+The development version, from GitHub:
+
+```bash
+pip install "proofmass-check @ git+https://github.com/proofmass/proofmass-check"
+```
+
+## Run
+
+```bash
+proofmass-check run path/to/asset.usd --engine physx
+proofmass-check list-checks
+```
+
+| Option | What it does |
+|---|---|
+| `--engine physx` or `newton` | the engine to run on (default `physx`) |
+| `--variant SET=VALUE` | select a variant; repeat for more than one. The engine's own variant set (`PhysX`, `Newton`) is selected when the asset has it |
+| `--no-floor` | no floor, for a pinned arm whose links reach below its base |
+| `--settle S` | seconds a drive gets for a move (spec: 1.5). A run with another value says so in its results |
+| `--out DIR` | where to write `results.json` (default `./proofmass-check-<asset name>`) |
+
+The exit status is 0 when no check failed, 1 when a check failed, and 2 when the run could not
+finish. `results.json` holds every verdict and number, the versions of the tool, the spec and the
+engine, and the SHA-256 of the asset file.
+[src/proofmass_check/results.schema.json](src/proofmass_check/results.schema.json) describes it.
+
+## How a run works
+
+1. **Read.** The reader reads bodies, joints and gripper sites from the USD, with the variants
+   selected. The file on disk does not change.
+2. **Plan.** The plan decides which checks apply to the asset, and gives the reason for each one
+   that does not. The plan is the same for every engine.
+3. **Simulate.** The engine runs short simulations, each from the asset's rest pose, and reports
+   what it measured.
+4. **Judge.** Each check compares the measurements with its rule in [docs/spec.md](docs/spec.md).
+
+proofmass-check only measures. It never repairs an asset and never changes a setting to make a
+check pass.
+
+## Contributing
+
+See [CONTRIBUTING.md](CONTRIBUTING.md). To report a security problem, see [SECURITY.md](SECURITY.md).
+
+## License
+
+Apache-2.0. See [LICENSE](LICENSE) and [NOTICE](NOTICE).
+
+Developed by [Proofmass](https://proofmass.com).