Actor SDG Generate Lighting Variations

Purpose

Generate deterministic lighting variations without changing the base USD stage. Each output is a USD sublayer, a file that overrides selected properties from another stage. Use the sublayers with Isaac Sim Replicator Agent (IRA) through environment.prop_asset_paths.

Prerequisites

• An Isaac Sim install or source build exposed through $ISAAC_SIM_DIR.
• A local USD stage or an omniverse:// stage URL.
• A writable output directory, preferably under $WORKSPACE_DIR.
• The Isaac Sim Python launcher, because the generator uses pxr.

Limitations