Feature: `ID:023 - Robot Materials`#

Description#

Support for proper material organization in robot assets. This feature ensures that materials in robot assets are structured according to USD best practices, with materials centrally organized in the top-level Looks prim and without nested material hierarchies. These requirements align with the Isaac Sim asset validation rules for ensuring consistent and reliable material handling across different USD applications and renderers.

Isaac Sim Format#

Version 0.1.0#

Details

Property	Value
Internal ID	`FET023_ROBOT_MATERIALS`
Asset Class	`Robot`
Supported Validation	`Robot Materials`
Proprietary Techs	`Isaac Sim`
Dependency	`OpenUSD`

Used in Profiles#

This version can be used in the following profiles:

Robot Asset Profiles - Used to ensure proper material organization for robot assets
Isaac Sim Robot Profiles - Used in combination with other Isaac Sim features for complete robot asset validation

Requirements#

Capability: Isaac_Sim/Robot_Materials
- Requirements:
  - No-Nested-Materials
    - RM.001 | Version 0.1.0
    - Rule | Implementation
  - Materials-On-Top-Level-Only
    - RM.002 | Version 0.1.0
    - Rule | Implementation

Pipelines Supported for this Feature#

Source file type:

.usd/.usda/.usdc
- Via USD authoring tools with proper material organization
.urdf
- Via URDF to USD conversion with material consolidation
.blend
- Via Blender SimReady Add-ons with proper material export

Material Organization Best Practices#

To comply with this feature:

Organize Materials in Looks: All materials must be direct children of the top-level Looks scope
```
/<DefaultPrim>/Looks/Material_01
/<DefaultPrim>/Looks/Material_02
```

Avoid Nested Materials: Materials must not contain other materials as children

Good: Flat material hierarchy
Looks/
  - Material_01
  - Material_02

Bad: Nested materials
Looks/
  - Material_01
      - Material_02  (Nested - not allowed)

Use Material Bindings: Reference materials from geometry using material bindings

def Mesh "mesh_01" (
    prepend apiSchemas = ["MaterialBindingAPI"]
)
{
    rel material:binding = </MyAsset/Looks/Material_01>
}

Centralize Material Definitions: Keep all material definitions in one location for easier management and reuse

Test Process#

Obtain Isaac Sim 5 (release build) or use the SimReady validation tools
Launch validation:
- Use the Isaac Sim asset validator
- Run validation against the Robot Materials feature requirements
Test material organization:
- Verify all materials are in the top-level Looks prim
- Check that no materials contain nested materials
- Validate material bindings resolve correctly
Expected results:
- No nested materials found
- All materials located in //Looks
- Material bindings resolve correctly
- Assets render consistently across different USD applications

Feature: ID:023 - Robot Materials#