USD Composition Architecture for Isaac Sim

When to use

• Build new robot or environment assets.
• Restructure an existing asset with the Asset Transformer.
• Optimize RL training startup time and VRAM.
• Diagnose physics edits in a USDA that aren't taking effect.
• Debug joint limits, mass, or solver parameters.
• Create variants of an existing asset (configs, materials).

Core Concept: One Binary Crate, Many USDA Layers

Isaac Sim's recommended asset structure splits a robot into one binary geometry crate plus a set of ASCII layers, composed by an interface.usda: