USDCraft: Geometrically Grounded Programmatic Modeling of Articulated 3D Assets for Simulation

USDCraft is a framework that enables the creation of simulation-ready articulated 3D assets from partial geometric data. It uses a pretrained LLM to generate and revise executable programs for these assets, supported by source geometry analysis and iterative geometric rechecking. The method produces articulated USD assets with explicit physical properties that load into Isaac Sim without manual adjustment, showing effectiveness in real-to-sim-to-real robot manipulation tasks.