USD Composition Architecture for Isaac Sim

Purpose

Author sim-ready USD with layered payloads (base, instances, materials, physics, robot) following NVIDIA composition conventions.

Prerequisites

• OpenUSD plus the matching foundation distribution for standalone composition.
• Built Isaac Sim only for Asset Transformer UI or wheel staging, live Kit-stage, MDL, or renderer validation.

Limitations

• Targets Isaac Sim 6 / Kit 110 unless a section states otherwise.
• Does not replace official NVIDIA documentation for unsupported edge cases.

Troubleshooting