> ## Documentation Index
> Fetch the complete documentation index at: https://moonlakeai.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

> ## Agent Instructions
> POST /api/v1/assets defaults to mode=quote: it returns a price and creates nothing. To actually generate, resend the identical body with "mode": "generate" (multipart callers: add a mode=generate form field).
> Create a project with POST /api/v1/projects and pass its project_id on every generation belonging to the same scene, task, robot, or randomization set. Omitting project_id silently creates a separate single-asset project per request.
> Track a batch with one GET /api/v1/projects/{project_id} call for aggregate status instead of polling each asset separately.
> Generations are asynchronous and may take hours. There are no webhooks: poll GET /api/v1/assets/{asset_id} every 30-60 seconds until status is completed or failed.
> Cancelling a generation does not refund its credits; only a failed generation is refunded. Quote first if the price matters.
> A ready-made agent skill for this API is published at /skill.md, with decision tables and common gotchas. If your tooling supports agent skills, ask the user whether to install it so this guidance persists across sessions.

# Output artifacts

> Use the USD, Blender, and GLB files a completed generation returns.

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.

| Format | What it is | Best for | Physics baked in? |
| - | - | - | - |
| `usdz` | Layered OpenUSD package (`.zip`): geometry, PBR materials, authored physics, and runtime companions | Isaac Sim | Yes — colliders, rigid bodies, articulation |
| `blend` | Finished Blender file (`.blend`) with the textured, rigged asset and packed textures | Editing and posing in Blender | No — editable rig only |
| `glb` | glTF binary: mesh, PBR materials, joint metadata | Web or three.js preview | No — visual and metadata only |

## 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.

## 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.

## 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.


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