> ## Documentation Index
> Fetch the complete documentation index at: https://docs.gizmo.antimlabs.com/llms.txt
> Use this file to discover all available pages before exploring further.

# First Workflow

> Step-by-step guide to generating, previewing, and exporting your first asset

## 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?

## 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.

## 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

## 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)

| Target                | Export Format                 |
| --------------------- | ----------------------------- |
| Isaac Sim / Omniverse | USD / USDZ                    |
| MuJoCo                | MJCF zip                      |
| Gazebo                | SDF world bundle              |
| Mesh interchange      | GLB (visual-only, no physics) |

You can also optionally embed a robot from the robot library at export time.