How do we use the kaya in isaac sim?

Hi,

Is it possible to simulate Kaya instead of Carter for apps other than navigate/gmapping? For example, in the ‘tutorial’ scene, how would one go about replacing Carter with Kaya?

I tried creating a kaya.json file in packages/navsim/robots similar to carter.json, and also added the Kaya prefab to the scene. Trying to run it this way results in Kaya going off the rails and the navsim app crashing.

How does the simulation work with Kaya?