First Workflow

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A. Generate an Asset

Open the editor, and try a prompt such as:

industrial metal cabinet with two hinged doors and three sliding drawers

or attach a reference image alongside your prompt:

mobile lab cart with drawers, caster wheels, and a handle

The agent handles everything a robotics team cares about, end-to-end:

• Articulated structure — correct joints (revolute, prismatic, spherical, or fixed) with sensible limits
• Collision geometry — for every body, including convex decomposition for complex shapes
• Mass, inertia, friction, and restitution — computed per primitive from material density and geometry
• Material assignments — PBR textures generated to match the asset
• Affordances — doors, drawers, lids, knobs, handles, and wheels, correctly grouped and labeled
• Robotics validation — the asset is ready to drop into a downstream simulator without manual cleanup

Once generation is complete, the asset is saved to your library and ready for inspection, simulation, and export. After generation, inspect the following:

• Are the dimensions reasonable?
• Are doors and drawers grouped correctly?
• Do joints rotate or slide in the expected direction?
• Are collision shapes present?
• Are mass, friction, and material settings populated?

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B. Use Premade Assets

For common objects, browse the premade catalog (3,000+ physics-ready assets). You can search by name or category, preview in 3D, and place directly into your scene without waiting for generation.

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C. Run the Physics Preview

Click Play in the editor. The browser preview uses real-time physics, allowing you to inspect joint behavior before exporting to an external simulator. Verify that:

• Doors swing around the correct hinge edge
• Drawers slide along the correct axis
• Objects do not fall through the floor
• Collision approximations are reasonable
• Articulated parts remain attached

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D. Export

The same scene can be exported to multiple targets — choose whichever simulator you want to test in. From the editor toolbar:

• Export → Export USD (Isaac Sim / Omniverse)
• Export → Export MJCF (MuJoCo)
• Export → Export SDF (Gazebo)
• Export → Export JSON (internal Gizmo snapshot)

You can also optionally embed a robot (Franka Panda, UR5, etc.) at export time.