Download Output USD

Download the simulation-ready USD written by the apply_physics step.

Returned only when the pipeline has completed with apply_physics enabled (the service default). USD, USDA, and USDC inputs are returned as scene_physics.usd, scene_physics.usda, or scene_physics.usdc. USDZ inputs default to scene_physics.usda so Omniverse MDL shader references can remain as runtime-resolved asset paths instead of being bundled into a new USDZ package. UsdPhysics schemas (RigidBodyAPI, CollisionAPI, MassAPI, MaterialAPI) are authored on each predicted prim, plus a PhysicsScene. Consumable by PhysX / Isaac.