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When a generation completes, result.artifacts lists its output files. Each entry includes a format and a presigned download_url. The URL is valid for seven days and is re-signed whenever you retrieve the generation. Every generation targets the same asset in multiple formats; format is not a request-time choice. New formats may be added, so treat artifacts as an open-ended list.

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Import the USD package into simulation

The artifact with format: "usdz" downloads as a ZIP containing a layered OpenUSD package. Extract it and open the *_root.usda file in Isaac Sim. The root layer composes the base .usdz with a stronger *_overrides.usda layer; optional behavior scripts and simulation-contract metadata remain beside them so relative references continue to work. The composed asset has bundled textures, is Z-up, uses meters and kilogramsPerUnit=1, and has one defaultPrim, so it imports without axis or scale fixups. It includes:
  • Geometry arranged in a clean prim hierarchy, with PBR materials and embedded textures.
  • Convex-decomposition colliders for every mesh and rigid-body physics for dynamic bodies.
  • Revolute or prismatic joints and an articulation root for assets with moving parts. Joints may include authored state, drives, and dependent motion. Fixed-base assets are pinned to the world.
The authored physics is a usable baseline, not task-tuned ground truth. Known part masses may be authored explicitly; otherwise mass is derived from collision volume and a default density. Friction and restitution use generic or material-class defaults rather than measured values. Tune them when your task requires it.

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Edit or pose the asset in Blender

The blend artifact is the finished scene as one .blend file with its textures packed, for Blender 4.2+. It carries the same rig the USD was exported from, so posing a joint in Blender matches the joint the simulator sees.

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Preview on the web

The glb artifact stores the mesh and PBR materials along with each joint’s range and coupling in glTF extras. It is intended for browser or three.js viewers. It has no colliders or rigid-body physics, and is included only when the generation produces one.