---
title: "Download Output USD"
method: GET
path: "/artifacts/{session_id}/output-usd"
tags: ["artifacts"]
---

# Download Output USD

`GET /artifacts/{session_id}/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.

## Path parameters

- `session_id` string, required

## Response `200`

Successful Response

## Other responses

- `404` — Session or output USD not found
- `422` — Validation Error

## Changes

- **2026-05-27** `bef81aa36f74` — 2 info
  - added the media type `model/vnd.usdz+zip` for the response with the status `200`
  - added the media type `text/plain` for the response with the status `200`
- **2026-04-29** `0ba9e71b823c` — 2 breaking
  - removed the media type `model/vnd.usdz+zip` for the response with the status `200`
  - removed the media type `text/plain` for the response with the status `200`

[Change history](https://skmtc.dev/nvidia/apis/physics-agent-service/changes/artifacts/:session_id/output-usd/get.md)

---

[API](https://skmtc.dev/nvidia/apis/physics-agent-service.md) · [All operations](https://skmtc.dev/nvidia/apis/physics-agent-service/llms.txt) · [OpenAPI document](https://skmtc-service-production.skmtc.workers.dev/v1/apis/nvidia/physics-agent-service/revisions/47f3bc191c91/schema)