Robot-Body Profile USD Authoring Guide

This document describes how to author a USD asset that conforms to the Robot-Body profile. It consolidates the required feature set, USD properties, naming conventions, and composition expectations for robot body assets.

Robot-Body version 2.0.0 is the consolidated robot profile. It supersedes the separate Robot-Body-Neutral, Robot-Body-Runnable, and Robot-Body-Isaac profiles by keeping a neutral OpenUSD core mandatory and exposing PhysX and Isaac behavior as optional features. Version 2.1.0 keeps that menu, adds required SimReady packaging and provenance metadata, and exposes optional Newton and MuJoCo multiphysics runtime features (FET_004_*, FET_022_*, FET_024_*) alongside the existing PhysX variants. Version 2.2.0 keeps the 2.1.0 set (including the Newton and MuJoCo multiphysics features) and adds optional FET_025_ROS@0.1.0 for Isaac ROS-Ready bridge wiring.

Profile definition

The Robot-Body profile includes the following feature set (see robot_body.toml and the feature dependency graph). Each feature’s requirements and dependencies are defined in the feature specifications.

[Robot-Body]
"2.0.0" = {features = [
    {"FET_001_STANDARD" = {version = "1.0.1"}}, # "Minimal"
    {"FET_003_STANDARD" = {version = "0.2.0"}}, # "RBD Physics"
    {"FET_004_STANDARD" = {version = "0.2.0"}, optional=true}, # "Simulate Multi-Body Physics"
    {"FET_021_ISAAC" = {version = "0.3.0"}, optional=true}, # "Robot Core (Isaac identity)"
    {"FET_022_STANDARD" = {version = "0.2.0"}, optional=true}, # "Driven Joints"
    {"FET_024_STANDARD" = {version = "0.1.0"}, optional=true}, # "Articulation"

    {"FET_004_PHYSX" = {version = "0.4.0"}, optional=true}, # "Simulate Multi-Body Physics (PhysX)"
    {"FET_022_PHYSX" = {version = "0.2.0"}, optional=true}, # "Driven Joints (PhysX)"
    {"FET_024_PHYSX" = {version = "0.1.0"}, optional=true}, # "Articulation (PhysX)"

    {"FET_000_ISAAC" = {version = "0.1.0"}, optional=true}, # "Core (Isaac) packaging"
    {"FET_022_ISAAC" = {version = "0.2.0"}, optional=true}, # "Driven Joints (Isaac)"
    {"FET_023_ISAAC" = {version = "0.1.0"}, optional=true}, # "Robot Materials (Isaac)"
    {"FET_100_ISAAC" = {version = "0.3.0"}, optional=true}, # "Isaac composition"
]}
"2.1.0" = {features = [ # Add required SimReady packaging + provenance metadata (FET_031_STANDARD, FET_033_STANDARD@0.3.0 / SR.003); add optional Newton/MuJoCo multiphysics runtime features and per-runtime Core scaffolding (FET_000_PHYSX/NEWTON/MUJOCO)
    {"FET_001_STANDARD" = {version = "1.0.1"}}, # "Minimal"
    {"FET_003_STANDARD" = {version = "0.2.0"}}, # "RBD Physics"
    {"FET_004_STANDARD" = {version = "0.2.0"}, optional=true}, # "Simulate Multi-Body Physics"
    {"FET_021_ISAAC" = {version = "0.3.0"}, optional=true}, # "Robot Core (Isaac identity)"
    {"FET_022_STANDARD" = {version = "0.2.0"}, optional=true}, # "Driven Joints"
    {"FET_024_STANDARD" = {version = "0.1.0"}, optional=true}, # "Articulation"

    # SimReady packaging + provenance metadata (required)
    {"FET_031_STANDARD" = {version = "0.1.0"}}, # "Self-contained Package Source"
    {"FET_033_STANDARD" = {version = "0.3.0"}}, # "Metadata (thumbnail + nested provenance metadata)"

    # PhysX runtime core / multibody / driven joints / articulation
    {"FET_000_PHYSX" = {version = "0.1.0"}, optional=true}, # "Core PhysX runtime variant"
    {"FET_004_PHYSX" = {version = "0.4.0"}, optional=true}, # "Simulate Multi-Body Physics (PhysX)"
    {"FET_022_PHYSX" = {version = "0.2.0"}, optional=true}, # "Driven Joints (PhysX)"
    {"FET_024_PHYSX" = {version = "0.1.0"}, optional=true}, # "Articulation (PhysX)"

    # Newton runtime core / multibody / driven joints / articulation
    {"FET_000_NEWTON" = {version = "0.1.0"}, optional=true}, # "Core Newton runtime variant"
    {"FET_004_NEWTON" = {version = "0.1.0"}, optional=true}, # "Simulate Multi-Body Physics (Newton)"
    {"FET_022_NEWTON" = {version = "0.1.0"}, optional=true}, # "Driven Joints (Newton)"
    {"FET_024_NEWTON" = {version = "0.1.0"}, optional=true}, # "Articulation (Newton)"

    # MuJoCo runtime core / multibody / driven joints / articulation
    {"FET_000_MUJOCO" = {version = "0.1.0"}, optional=true}, # "Core MuJoCo runtime variant"
    {"FET_004_MUJOCO" = {version = "0.1.0"}, optional=true}, # "Simulate Multi-Body Physics (MuJoCo)"
    {"FET_022_MUJOCO" = {version = "0.1.0"}, optional=true}, # "Driven Joints (MuJoCo)"
    {"FET_024_MUJOCO" = {version = "0.1.0"}, optional=true}, # "Articulation (MuJoCo)"

    {"FET_000_ISAAC" = {version = "0.1.0"}, optional=true}, # "Core (Isaac) packaging"
    {"FET_022_ISAAC" = {version = "0.2.0"}, optional=true}, # "Driven Joints (Isaac)"
    {"FET_023_ISAAC" = {version = "0.1.0"}, optional=true}, # "Robot Materials (Isaac)"
    {"FET_100_ISAAC" = {version = "0.3.0"}, optional=true}, # "Isaac composition"
]}
"2.2.0" = {features = [ # Add optional Isaac ROS-Ready bridge wiring (FET_025_ROS); add optional Newton/MuJoCo multiphysics runtime features and per-runtime Core scaffolding (FET_000_PHYSX/NEWTON/MUJOCO)
    {"FET_001_STANDARD" = {version = "1.0.1"}}, # "Minimal"
    {"FET_003_STANDARD" = {version = "0.2.0"}}, # "RBD Physics"
    {"FET_004_STANDARD" = {version = "0.2.0"}, optional=true}, # "Simulate Multi-Body Physics"
    {"FET_021_ISAAC" = {version = "0.3.0"}, optional=true}, # "Robot Core (Isaac identity)"
    {"FET_022_STANDARD" = {version = "0.2.0"}, optional=true}, # "Driven Joints"
    {"FET_024_STANDARD" = {version = "0.1.0"}, optional=true}, # "Articulation"
    {"FET_025_ROS" = {version = "0.1.0"}, optional=true}, # "ROS Ready (Isaac)"

    # SimReady packaging + provenance metadata (required)
    {"FET_031_STANDARD" = {version = "0.1.0"}}, # "Self-contained Package Source"
    {"FET_033_STANDARD" = {version = "0.3.0"}}, # "Metadata (thumbnail + nested provenance metadata)"

    # PhysX runtime core / multibody / driven joints / articulation
    {"FET_000_PHYSX" = {version = "0.1.0"}, optional=true}, # "Core PhysX runtime variant"
    {"FET_004_PHYSX" = {version = "0.4.0"}, optional=true}, # "Simulate Multi-Body Physics (PhysX)"
    {"FET_022_PHYSX" = {version = "0.2.0"}, optional=true}, # "Driven Joints (PhysX)"
    {"FET_024_PHYSX" = {version = "0.1.0"}, optional=true}, # "Articulation (PhysX)"

    # Newton runtime core / multibody / driven joints / articulation
    {"FET_000_NEWTON" = {version = "0.1.0"}, optional=true}, # "Core Newton runtime variant"
    {"FET_004_NEWTON" = {version = "0.1.0"}, optional=true}, # "Simulate Multi-Body Physics (Newton)"
    {"FET_022_NEWTON" = {version = "0.1.0"}, optional=true}, # "Driven Joints (Newton)"
    {"FET_024_NEWTON" = {version = "0.1.0"}, optional=true}, # "Articulation (Newton)"

    # MuJoCo runtime core / multibody / driven joints / articulation
    {"FET_000_MUJOCO" = {version = "0.1.0"}, optional=true}, # "Core MuJoCo runtime variant"
    {"FET_004_MUJOCO" = {version = "0.1.0"}, optional=true}, # "Simulate Multi-Body Physics (MuJoCo)"
    {"FET_022_MUJOCO" = {version = "0.1.0"}, optional=true}, # "Driven Joints (MuJoCo)"
    {"FET_024_MUJOCO" = {version = "0.1.0"}, optional=true}, # "Articulation (MuJoCo)"

    {"FET_000_ISAAC" = {version = "0.1.0"}, optional=true}, # "Core (Isaac) packaging"
    {"FET_022_ISAAC" = {version = "0.2.0"}, optional=true}, # "Driven Joints (Isaac)"
    {"FET_023_ISAAC" = {version = "0.1.0"}, optional=true}, # "Robot Materials (Isaac)"
    {"FET_100_ISAAC" = {version = "0.3.0"}, optional=true}, # "Isaac composition"
]}

Required versus optional features

On 2.0.0 only two features are required, and from 2.1.0 the packaging and provenance features join them. Every robot-specific feature is marked optional=true and is validated only when the asset selects it.

Feature	Version	Status	Purpose
FET_001_STANDARD	1.0.1	Required	Minimal OpenUSD asset: units, hierarchy, mesh geometry
FET_003_STANDARD	0.2.0	Required	Neutral rigid-body physics and colliders
FET_031_STANDARD	0.1.0	Required (2.1.0+)	Self-contained package source
FET_033_STANDARD	0.3.0	Required (2.1.0+)	Thumbnail and nested provenance metadata
FET_004_STANDARD	0.2.0	Optional	Neutral multibody joints
FET_021_ISAAC	0.3.0	Optional	Robot identity: robot schema, robot type, root joint
FET_022_STANDARD	0.2.0	Optional	Neutral driven joints
FET_024_STANDARD	0.1.0	Optional	Single articulation root
FET_000_PHYSX	0.1.0	Optional (2.1.0+)	PhysX runtime-variant Core scaffolding (variant set + payload)
FET_004_PHYSX	0.4.0	Optional	PhysX multibody, mass, and nesting rules
FET_022_PHYSX	0.2.0	Optional	PhysX drives and mimic joints
FET_024_PHYSX	0.1.0	Optional	PhysX collision clearance between links
FET_000_NEWTON	0.1.0	Optional (2.1.0+)	Newton runtime-variant Core scaffolding (variant set + payload)
FET_004_NEWTON	0.1.0	Optional (2.1.0+)	Newton multibody, mass, and nesting rules
FET_022_NEWTON	0.1.0	Optional (2.1.0+)	Newton driven joints
FET_024_NEWTON	0.1.0	Optional (2.1.0+)	Newton articulation root
FET_000_MUJOCO	0.1.0	Optional (2.1.0+)	MuJoCo runtime-variant Core scaffolding (variant set + payload)
FET_004_MUJOCO	0.1.0	Optional (2.1.0+)	MuJoCo multibody, mass, and nesting rules
FET_022_MUJOCO	0.1.0	Optional (2.1.0+)	MuJoCo driven joints
FET_024_MUJOCO	0.1.0	Optional (2.1.0+)	MuJoCo articulation root
FET_000_ISAAC	0.1.0	Optional	Isaac packaging, thumbnail, physics-layer separation
FET_022_ISAAC	0.2.0	Optional	Isaac link and joint APIs
FET_023_ISAAC	0.1.0	Optional	Isaac robot material organization
FET_100_ISAAC	0.3.0	Optional	Isaac Sim composition
FET_025_ROS	0.1.0	Optional (2.2.0)	Isaac ROS 2 bridge OmniGraph nodes (ROS.001)

A practical robot body selects at least FET_004_STANDARD, FET_021_ISAAC, FET_022_STANDARD, and FET_024_STANDARD. Add the PhysX features for a runnable PhysX robot, and FET_000_ISAAC plus Isaac composition for an Isaac Sim deliverable. On 2.2.0, select FET_025_ROS when the robot ships ROS 2 bridge OmniGraph wiring.

From 2.1.0, the profile also exposes each physics runtime as an optional Core → multibody → driven-joints → articulation bundle. Alongside PhysX (FET_000_PHYSX, FET_004_PHYSX, FET_022_PHYSX, FET_024_PHYSX) it adds Newton (FET_000_NEWTON, FET_004_NEWTON, FET_022_NEWTON, FET_024_NEWTON) and MuJoCo (FET_000_MUJOCO, FET_004_MUJOCO, FET_022_MUJOCO, FET_024_MUJOCO). The FET_000_* Core feature provides that runtime’s variant-set scaffolding and runnables/physics/ payload, while the FET_004/022/024_* features cover multibody, driven joints, and articulation. Select a runtime’s features when the robot carries that solver’s physics payload; simready-validate enables the matching variant before running the runtime-specific rules. A missing runtime does not fail the profile, but a present runtime must pass its rules. See Multiple Physics Solvers.

Feature versions in this profile pin the Standard/PhysX families rather than the legacy FET_004_ROBOT_PHYSX feature. Rigid-body work stays in the FET_003 family and multibody joint work stays in the FET_004 family.

Required USD properties and schemas

Stage metadata and hierarchy (FET_001_STANDARD)

• Set upAxis = "Z" (UN.006) and metersPerUnit = 1.0 (UN.007).

• Set defaultPrim to an existing prim (HI.004).

• Parent all prims under a single stage root prim (HI.001) that inherits UsdGeomXformable (HI.003).

• Use anchored ./ or ../ reference paths that stay inside the asset root (AA.001) and point only at supported file types (AA.002).

• Author render geometry as UsdGeom.Mesh with subdivisionScheme = "none" (VG.MESH.001), valid extent (VG.002), valid topology (VG.014), counter-clockwise winding (VG.029), and normals through exactly one of primvars:normals or normals (VG.027, VG.028).

• Avoid coincident meshes occupying identical space (VG.008), and place the robot at the origin with a neutral root transform (VG.025).

Rigid bodies and colliders (FET_003_STANDARD)

• Apply UsdPhysicsRigidBodyAPI to at least one UsdGeomXformable prim (RB.001), and only to UsdGeomXformable prims (RB.003).

• Apply UsdPhysicsCollisionAPI only on UsdGeom.Gprim prims (RB.COL.001), and UsdPhysicsMeshCollisionAPI only on UsdGeom.Mesh paired with UsdPhysicsCollisionAPI (RB.COL.002, RB.COL.003).

• Keep world scale uniform on Sphere, Capsule, Cylinder, Cone, and Points colliders (RB.COL.004).

• Do not apply PhysicsRigidBodyAPI inside an instanceable = true prototype (RB.005).

• Author float physics:mass on the body or its descendant colliders (RB.007), keep the composed world transform free of skew (RB.009), and set purpose = "guide" on non-rendering collision meshes (RB.010).

Optional feature requirements

Multibody joints (FET_004_STANDARD, FET_004_PHYSX)

• Connect links with a UsdPhysicsJoint subtype and author rel physics:body0 and rel physics:body1; an empty side means world (JT.001).

• Target existing prims or leave the relationship empty (JT.002), with at most one target each (JT.003).

• Do not nest PhysicsArticulationRootAPI (JT.ART.002), and do not apply it to kinematic (JT.ART.003) or disabled/static (JT.ART.004) bodies.

• Apply PhysicsRigidBodyAPI to at least two separate UsdGeomXformable hierarchies (RB.MB.001).

FET_004_PHYSX@0.4.0 adds two rules on top of the neutral set:

• Every rigid-body subtree needs authored physics:mass > 0, or at least one owned collider with non-zero-volume extent for auto-mass (RB.011).

• Every nested PhysicsRigidBodyAPI ancestor/descendant pair must be connected by a stage joint targeting both bodies (RB.012).

Robot core (FET_021_ISAAC)

• Use lowercase, underscore-delimited asset file names and stable prim paths such as /Carter/base_link and /Carter/Joints/left_wheel_joint. The validator expects a <Manufacturer>/<robot>/<robot.usd> layout where the folder name matches the USD stem (RC.003).

• Set defaultPrim to the robot root, apply IsaacRobotAPI, and author non-empty rel isaac:physics:robotLinks and rel isaac:physics:robotJoints listing every link and joint prim (RC.007).

• Author token isaac:robotType on the default prim using one of "End Effector", "Manipulator", "Humanoid", "Wheeled", "Holonomic", "Quadruped", "Mobile Manipulators", or "Aerial". "Default" is invalid (RC.008).

• Pin the root joint, which is the first target of isaac:physics:robotJoints (RC.009). For "Manipulator" and "End Effector", leave one of physics:body0 or physics:body1 empty or target a prim without PhysicsRigidBodyAPI. For every other robot type, both sides must target prims that have PhysicsRigidBodyAPI.

Driven joints (FET_022_STANDARD, FET_022_PHYSX, FET_022_ISAAC)

Neutral driven joints (FET_022_STANDARD):

• On joints with PhysicsDriveAPI:<angular|linear>, author a finite drive:<axis>:physics:maxForce greater than zero (DJ.001).

• Apply PhysicsJointStateAPI:angular to non-fixed revolute joints and PhysicsJointStateAPI:linear to prismatic joints (DJ.002).

• Keep physics:localPos0/1, physics:localRot0/1, and the joint-state pose mutually consistent (DJ.003).

• Keep the articulation joint graph acyclic with at most one joint per rigid-body pair, excluding joints with physics:excludeFromArticulation = true (DJ.011).

PhysX driven joints (FET_022_PHYSX) add:

• Apply PhysicsDriveAPI:<axis> or PhysxMimicJointAPI:<rotX|rotY|rotZ> to non-fixed joints that participate in the articulation. When both are present, set drive stiffness and damping to exactly 0.0 (DJ.004, DJ.006).

• Author float physxJoint:maxJointVelocity greater than zero on joints with PhysxJointAPI (DJ.005).

• Give each mimic joint exactly one rel physxMimicJoint:<axis>:referenceJoint target, plus non-zero physxMimicJoint:<axis>:gearing and physxMimicJoint:<axis>:naturalFrequency and an authored physxMimicJoint:<axis>:dampingRatio. Both the mimic and reference joints need limits, and neither may set physics:excludeFromArticulation = true (DJ.007).

Isaac driven joints (FET_022_ISAAC) add:

• Apply the Isaac joint API to at least one prim (DJ.008) and the Isaac link API to at least one prim (DJ.009).

• Prepend isaac:physics:robotLinks and isaac:physics:robotJoints on the default prim carrying IsaacRobotAPI (DJ.010).

Articulation (FET_024_STANDARD, FET_024_PHYSX)

Apply exactly one PhysicsArticulationRootAPI on the kinematic-chain root (BA.001). Zero roots and multiple roots both fail:

def Xform "Robot" (
    prepend apiSchemas = ["PhysicsArticulationRootAPI"]
)
{
}

FET_024_PHYSX adds BA.002: collision meshes on non-adjacent articulation links must not overlap at the default pose. This is verified by detecting initial PhysX collider contacts rather than by inspecting authored attributes, so it requires a runtime check.

Isaac packaging (FET_000_ISAAC)

FET_000_ISAAC@0.1.0 depends on FET_000_STANDARD@0.1.0 and adds four packaging requirements:

• Keep the robot folder free of unreferenced files, with the interface layer at the asset root and payload, material, and physics content in subfolders (RC.001).

• Provide a thumbnail at .thumbs/256x256/{robot_filename}.png beside the robot .usd (RC.004).

• Author every physics:* attribute only in the physics layer, whose file name matches *physics.usd, *physics.usda, or *physics.usdc, as deltas over the base layer (RC.005).

• Apply every Physics* and Physx* API schema only in that physics layer, not in the base or interface layer (RC.006).

Isaac composition (FET_100_ISAAC)

ISA.001 requires the main USD to have a default prim with kind = "component" that references separate mesh and physics layers through relative paths:

• Organize materials under a Scope "Looks", raw geometry under an invisible Scope "Meshes", and visual references under an invisible Scope "Visuals".

• Apply physics schemas and attributes in the physics payload only.

• Set upAxis = "Z", metersPerUnit = 1.0, and a default prim in every file, keeping all reference and payload paths relative.

The ISA.001 requirement page and the composition validator currently disagree on exact payload file names. Check capabilities/isaac_sim/composition/validation.py for the names the validator expects before finalizing a layout.

ROS Ready (version 2.2.0)

Version 2.2.0 adds optional FET_025_ROS@0.1.0. Use it when the robot asset includes OmniGraph nodes whose node:type starts with isaacsim.ros2.bridge. (ROS.001). Repair with simready-foundation-conform-fet-025-ros after Isaac composition when ROS bridge wiring is in scope.

Naming conventions

Prim naming

• Choose either camelCase or snake_case and use it consistently.

• Avoid spaces, special characters, and reserved keywords.

• Use descriptive, purpose-driven names.

• Use prefixes by prim type when appropriate (e.g., mesh_, material_).

File naming

• Use lowercase file names.

• Use .usd, .usda, .usdc, or .usdz as appropriate.

• Use underscores or hyphens; avoid spaces and special characters.

• Avoid reserved names (e.g., CON, PRN, AUX, NUL).

• Use version numbers when appropriate (e.g., _v1.0).

Validation metadata (recommended)

Include profile metadata in customLayerData to simplify validation workflows:

customLayerData = {
    dictionary SimReady_Metadata = {
        dictionary validation = {
            string profile = "Robot-Body"
            string profile_version = "2.2.0"
        }
    }
}

Conformance workflow

Repair one feature gate at a time, in dependency order:

validate Robot-Body
-> simready-foundation-conform-fet-001-standard
-> simready-foundation-conform-fet-003-standard (or -physx)
-> simready-foundation-conform-fet-004-standard (or -physx)
-> simready-foundation-conform-fet-021-isaac
-> simready-foundation-conform-fet-000-isaac (only for Isaac packaging)
-> simready-foundation-conform-fet-022-standard (or -physx / -isaac)
-> simready-foundation-conform-fet-024-standard (or -physx)
-> simready-foundation-conform-fet-100-isaac (only for Isaac deliverables)
-> simready-foundation-conform-fet-031-standard (required on 2.1.0+)
-> simready-foundation-conform-fet-033-standard (required on 2.1.0+)
-> simready-foundation-conform-fet-025-ros (only when ROS-Ready is selected on 2.2.0)
-> validate Robot-Body again

Get the body and joint topology in shape before the articulation gate. The Standard articulation feature checks the single articulation root; the PhysX feature also needs collision-clearance evidence for non-adjacent links.

References

• Feature dependency graph — requirements and dependencies for all features

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/profiles/robot_body.toml

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_000_ISAAC.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_001_STANDARD.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_003_STANDARD.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_004_STANDARD.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_004_PHYSX.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_021_ISAAC.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_022_STANDARD.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_022_PHYSX.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_022_ISAAC.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_023_ISAAC.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_024_STANDARD.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_024_PHYSX.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_025_ROS.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_031_STANDARD.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_033_STANDARD.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_100_ISAAC.md

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/robot_core/

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/composition/

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/isaac_sim/ros_bridge/

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_driven_joints/

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/base_articulation/

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_joints/

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/physics_rigid_bodies/

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/core/naming_paths/