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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 can use multiple geometry pipelines:
  • Auto (default) — lets the agent pick the best approach
  • Parametric — editable primitives with modifiers
  • Precision CAD — B-Rep solids for mechanical/engineering parts
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 USDZ (single-file USDZ archive)
  • Export → Export GLB (visual mesh interchange)
You can also optionally embed a robot from the robot library at export time.