.. _isaac_assets: .. _Fraunhofer O3dyn: https://git.openlogisticsfoundation.org/silicon-economy/simulation-model/o3dynsimmodel ================================ Included Environments and Robots ================================ General |omni| Content ====================== General content for |omni| is found on the ``NVIDIA`` |omni| Mount on your |nuc_short| server. Within this mount is where you can find an assortment of useful goodies from textures to HDRI Skies to animated rigs. Each bit of content can be helpful for crafting new an imaginative scenes all while you learn your way through the |omni|. More information about this content can be found at `Omniverse Mount Content. <../../app_composer/prod_content/mount-content.html>`_ Isaac Sim Content ================= Sample assets are available for download with the |isaac-sim| release. To use this content, you must download the files to a |nuc_short| server or create an **Isaac** Mount on a |nuc_short| server. All asset paths below are assumed to be relative to your |nuc_short| server. More information about how to install this content can be found at :ref:`isaac_sim_setup_native_main` or at :ref:`isaac_sim_setup_nucleus_add_assets_mount`. Environments ------------- Simple Grid ########### This simple environment contains a flat ground and sides with a grid texture. Three configurations are provided; the first two have square corners, the third has curved corners. Assets Path: ``/Isaac/Environments/Grid/`` .. list-table:: * - .. figure:: /content/images/isaac_assets_default_grid_room.png :align: center :alt: Square Grid Room :width: 100% ``default_environment.usd`` - .. figure:: /content/images/isaac_assets_square_grid_room.png :align: center :alt: Square Grid Room :width: 100% ``gridroom_black.usd`` - .. figure:: /content/images/isaac_assets_curved_grid_room.png :align: center :alt: Curved Grid Room :width: 100% ``gridroom_curved.usd`` Simple Room ########### A simple room containing a table. Asset Path: ``/Isaac/Environments/Simple_Room/simple_room.usd`` .. figure:: /content/images/isaac_assets_simple_room.png :align: center :alt: Simple Room :width: 50% Warehouse ############### A warehouse environment with shelving and objects that can be placed on them. Four configurations are provided: Assets Path: ``/Isaac/Environments/Simple_Warehouse/`` .. list-table:: * - .. figure:: /content/images/isaac_assets_simple_warehouse.png :align: center :alt: Simple Warehouse :width: 100% ``warehouse.usd`` A small warehouse with a single shelf. - .. figure:: /content/images/isaac_assets_simple_warehouse.png :align: center :alt: Simple Warehouse :width: 100% ``warehouse_with_forklifts.usd`` A small warehouse with a single shelf and forklifts. * - .. figure:: /content/images/isaac_assets_simple_warehouse_multiple_shelves.png :align: center :alt: Small warehouse multiple shelves :width: 100% ``warehouse_multiple_shelves.usd`` A small warehouse with multiple shelves. - .. figure:: /content/images/isaac_assets_full_warehouse.png :align: center :alt: Full Warehouse :width: 100% ``full_warehouse.usd`` A full-sized warehouse with shelves, obstacles on the floors, and forklifts. .. note:: Modular Warehouse assets contain segments of the whole warehouse: ``/Isaac/Environments/Modular_Warehouse/Props/`` Hospital ########## A hospital environment, with multiple rooms and spaces. Asset Path: ``/Isaac/Environments/Hospital/hospital.usd`` .. figure:: /content/images/isaac_assets_hospital.png :align: center :alt: Hospital :width: 50% Office ########## An Office Environment, with multiple rooms and an open plan floor. Asset Path: ``/Isaac/Environments/Office/office.usd`` .. figure:: /content/images/isaac_assets_office.png :align: center :alt: Office :width: 50% Jetracer Track ############### A jetracer track outlined on the ground plane. Asset Path: ``/Isaac/Environments/Jetracer/jetracer_track_solid.usd`` .. figure:: /content/images/isaac_assets_jetracer_track.png :align: center :alt: Jetracer Track :width: 50% Differential Robots ------------------- Carter ######################## The |nv| Carter robot provides a differential base for navigation-related applications. The Carter v2 is the second iteration of the robot, using the RMP Lite 220 wheelbase. Assets Path: ``/Isaac/Robots/Carter/`` .. list-table:: * - .. figure:: /content/images/isaac_assets_carter_v1.png :align: center :alt: Carter Robot :width: 100% ``carter_v1.usd`` - .. figure:: /content/images/isaac_assets_carter_v2.png :align: center :alt: Carter Robot :width: 100% ``carter_v2.usd`` .. _isaac_sim_asset_clearpath: Clearpath ######################## |isaac-sim| supports Clearpath mobile robots, including the Dingo and Ridgeback. Assets Path: ``/Isaac/Robots/Clearpath/`` .. figure:: /content/images/isaac_assets_clearpath_dingo.png :align: center :alt: Clearpath Dingo :width: 50% ``Dingo/dingo.usd`` We also provide 2 configurations of the Clearpath Ridgeback model: one with a Emika Franka Panda manipulator, and one with a Universal Robots UR5 manipulator. .. list-table:: * - .. figure:: /content/images/isaac_assets_clearpath_ridgeback_franka.png :align: center :alt: Clearpath Ridgeback with Franka manipulator :width: 100% ``RidgebackFranka/ridgeback_franka.usd`` - .. figure:: /content/images/isaac_assets_clearpath_ridgeback_ur.png :align: center :alt: Clearpath Ridgeback with UR5 manipulator :width: 100% ``RidgebackUr/ridgeback_ur5.usd`` JetBot ###### The open-source |nv| JetBot AI robot platform gives makers, students, and enthusiasts everything they need to build creative, fun, intelligent AI applications. Assets Path: ``/Isaac/Robots/Jetbot/`` .. list-table:: * - .. figure:: /content/images/isaac_assets_jetbot_aws.png :align: center :alt: JetBot AI :width: 100% ``aws_robomaker_jetbot.usd`` Jetbot simplified model. - .. figure:: /content/images/isaac_assets_jetbot.png :align: center :alt: JetBot AI :width: 100% ``jetbot.usd`` High-resolution Jetbot model imported from CAD. Smart Transport Robot ##################### The autonomous Smart Transport Robot (STR) was developed by BMW’s logistics innovation team and Fraunhofer Institute Dortmund. Assets Path: ``/Isaac/Robots/Transporter/``: * ``transporter.usd`` - Base Version. Has mobile base physics rigged. * ``transporter_sensors.usd`` - Base Version plus sensors API (Lidar, First and third person navigation camera). * ``transporter_static.usd`` - Static model with no physics rigged. .. figure:: /content/images/isaac_assets_str.png :align: center :alt: Smart Transport Robot :width: 50% Differential base robot measurement reference: +----------------------+---------------------+----------------------+ |Robot |Wheel Radius (m) | Wheel Separation (m) | +----------------------+---------------------+----------------------+ |carter_v1 |.24 |.54 | +----------------------+---------------------+----------------------+ |carter_v2 |.14 |.41 | +----------------------+---------------------+----------------------+ |jetbot |.0325 |.118 | +----------------------+---------------------+----------------------+ |transporter |.08 |.58 | +----------------------+---------------------+----------------------+ Holonomic Robots ---------------- Kaya #### The |nv| Kaya robot is a platform to demonstrate the power and flexibility of the Isaac Robot Engine running on the NVIDIA Jetson Nano™ platform. It has been designed with 3D-printed parts and hobbyist components to be as accessible as possible and features a three-wheeled holonomic drive, which allows it to move in any direction. Asset Path: ``/Isaac/Robots/Kaya/`` * ``kaya.usd`` - Base Version. * ``kaya_ogn_gamepad.usd`` - Base Version plus rigged gamepad control using the holonomic controller. .. figure:: /content/images/isaac_assets_kaya.png :align: center :alt: Kaya :width: 50% .. _isaac_sim_asset_o3dyn: O3dyn ##################### The O3dyn is an autonomous holonomic transporter developed by Fraunhofer Institute Dortmund. The robot can move in any direction due to its omniwheels, grab pallets using the four levers, and lift the pallet for transport. Assets Path: ``/Isaac/Robots/O3dyn/``: * ``o3dyn.usd`` - Base Version. Has mobile base, grippers and lift physics rigged, sensors positioning. * ``o3dyn_controller.usd`` - Base Version plus rigged gamepad control using the holonomic controller. .. list-table:: * - .. figure:: /content/images/isaac_assets_o3dyn.png :align: center :alt: Fraunhofer O3dyn Robot :width: 100% For more details, see `Fraunhofer O3dyn`_ documentation. Quadruped Robots ---------------- Ant #### The Ant is a basic four-legged robot with revolute joints on its legs. It is based on the OpenAI Gym Ant. Asset Path: ``/Isaac/Robots/Ant/`` * ``ant.usd`` - Base Version. * ``ant_instanceable.usd`` - Base version set up to create multiple efficient clones for RL scenarios. .. figure:: /content/images/isaac_assets_ant.png :align: center :alt: Ant :width: 50% ANYbotics ANYmal ##################### The ANYmal robot is an autonomous quadruped robot developed by ANYbotics. Assets Path: ``/Isaac/Robots/ANYbotics/anymal_c.usd``: .. figure:: /content/images/isaac_assets_anymal.png :align: center :alt: Anymal Robot :width: 50% Unitree A1/Go1 ############## The A1 and Go1 are models of quadruped robots developed by Unitree robotics. The A1 is used in the Quadruped isaac example. Assets Path: ``/Isaac/Robots/Unitree/`` .. list-table:: * - .. figure:: /content/images/isaac_assets_unitree_a1.png :align: center :alt: Unitree A1 :width: 100% ``a1.usd`` - .. figure:: /content/images/isaac_assets_unitree_go1.png :align: center :alt: Unitree Go1 :width: 100% ``go1.usd`` .. note:: To see examples controlling quadruped robots: :ref:`isaac_sim_quadruped` Robotic Manipulators -------------------- .. _isaac_sim_asset_denso: Denso Cobotta ############# The following Denso models models are included: Cobotta Pro 900, Cobotta Pro 1300. Assets Path: ``/Isaac/Robots/Denso/`` .. list-table:: * - .. figure:: /content/images/isaac_assets_denso_cobotta_900.png :align: center :alt: Denso Cobotta Pro 900 Robot :width: 100% ``/cobotta_pro_900.usd`` Denso Cobotta Pro 900 Model. - .. figure:: /content/images/isaac_assets_denso_cobotta_1300.png :align: center :alt: Denso Cobotta Pro 1300 Robot :width: 100% ``/cobotta_pro_1300.usd`` Denso Cobotta Pro 1300 Model. .. _isaac_sim_asset_dofbot: DofBot ###### This is DofBot, an affordable robotic arm with |nv| Jetson Nano. Asset Path: ``/Isaac/Robots/Dofbot/dofbot.usd`` .. list-table:: * - .. figure:: /content/images/isaac_sim_dofbot.png :align: center :alt: DofBot :width: 50% DofBot Manipulator. .. _isaac_sim_asset_festo: Festo ###### The Festo Cobot is a 6-axis pneumatic manipulator. Asset Path: ``/Isaac/Robots/Festo/festo_cobot.usd`` .. list-table:: * - .. figure:: /content/images/isaac_assets_festo_cobot.png :align: center :alt: Festo Cobot :width: 50% Festo Cobot. .. _isaac_sim_asset_flexiv: Flexiv: Rizon 4 ################# The Flexiv Robot Rizon 4 is a 7-axis adaptive manipulator. Asset Path: ``/Isaac/Robots/Flexiv/Rizon4/flexiv_ronzin4.usd`` .. list-table:: * - .. figure:: /content/images/isaac_assets_flexiv_rizon4.png :align: center :alt: Flexiv Adaptive Robot :width: 50% Flexiv Adaptive Robot. .. _isaac_sim_asset_franka: Franka Emika: Panda ################### The Franka Emika: Panda robot is provided in two configurations, the base/default configuration and the alternate finger gripper configuration used by the Leonardo preview sample application. Assets Path: ``/Isaac/Robots/Franka/`` .. list-table:: * - .. figure:: /content/images/isaac_assets_franka.png :align: center :alt: Franka Panda :width: 100% ``franka.usd`` Base Franka. - .. figure:: /content/images/isaac_assets_franka_flex_fingers.png :align: center :alt: Franka With Alternate Fingers :width: 100% ``franka_alt_fingers.usd`` Franka With Alternate Fingers. .. _isaac_sim_asset_kawasaki: Kawasaki ######################### Our library has following Kawasaki Robot models: RS007L, RS007N, RS013N, RS025N, RS080N. Assets Path: ``/Isaac/Robots/Kawasaki/`` .. list-table:: * - .. figure:: /content/images/isaac_assets_kawasaki_rs007l.png :align: center :alt: RS007L Robot :width: 100% ``RS007L/rs007l_onrobot_rg2.usd`` RS007L Model. - .. figure:: /content/images/isaac_assets_kawasaki_rs007n.png :align: center :alt: RS007N Robot :width: 100% ``RS007N/rs007n_onrobot_rg2.usd`` RS007N Model. * - .. figure:: /content/images/isaac_assets_kawasaki_rs013n.png :align: center :alt: RS013N Robot :width: 100% ``RS013N/rs013n_onrobot_rg2.usd`` RS013N Model. - .. figure:: /content/images/isaac_assets_kawasaki_rs025n.png :align: center :alt: RS025N Robot :width: 100% ``RS025N/rs025n_onrobot_rg2.usd`` RS025N Model. .. list-table:: * - .. figure:: /content/images/isaac_assets_kawasaki_rs080n.png :align: center :alt: RS080N Robot :width: 100% ``RS080N/rs080n_onrobot_rg2.usd`` RS080N Model. .. _isaac_sim_asset_kinova: Kinova ######################### Our library has following Kinova Robot models: Jaco 2 J2N6300 and J2N7S300. Assets Path: ``/Isaac/Robots/Kinova/Jaco2`` .. list-table:: * - .. figure:: /content/images/isaac_assets_kinova_j2n6s300.png :align: center :alt: J2N6S300 Robot :width: 100% ``J2N6S300/j2n6s300_instanceable.usd`` J2N6S300 Model. - .. figure:: /content/images/isaac_assets_kinova_j2n7s300.png :align: center :alt: J2N7S300 Robot :width: 100% ``J2N7S300/j2n7s300_instanceable.usd`` J2N7S300 Model. .. _isaac_sim_asset_sawyer: Rethink Robotics ######################### Our library has following Rething Robotics model: Sawyer. Assets Path: ``/Isaac/Robots/RethinkRobotics`` .. list-table:: * - .. figure:: /content/images/isaac_assets_rethink_robotics_sawyer.png :align: center :alt: Sawyer Robot :width: 100% ``sawyer_instanceable.usd`` .. _isaac_sim_asset_universal_robots: Universal Robotics ######################## |isaac-sim| supports the following Universal Robots models: UR3/3e, UR5/5e, UR10/10e, UR16e. Assets Path: ``/Isaac/Robots/UniversalRobots/`` .. list-table:: * - .. figure:: /content/images/isaac_assets_universal_robots_ur3.png :align: center :alt: UR3 Robot :width: 100% ``ur3/ur3.usd`` UR3 Model. - .. figure:: /content/images/isaac_assets_universal_robots_ur5.png :align: center :alt: UR5 Robot :width: 100% ``ur5/ur5.usd`` UR5 Model. * - .. figure:: /content/images/isaac_assets_universal_robots_ur3e.png :align: center :alt: UR3e Robot :width: 100% ``ur3e/ur3e.usd`` UR3e Model. - .. figure:: /content/images/isaac_assets_universal_robots_ur5e.png :align: center :alt: UR5e Robot :width: 100% ``ur5e/ur5e.usd`` UR5e Model. * - .. figure:: /content/images/isaac_assets_universal_robots_ur10.png :align: center :alt: UR10 Robot :width: 100% ``ur10/ur10.usd`` UR10 Model. - .. figure:: /content/images/isaac_assets_universal_robots_ur10e.png :align: center :alt: UR10e Robot :width: 100% ``ur10e/ur10e.usd`` UR10e Model. .. list-table:: * - .. figure:: /content/images/isaac_assets_universal_robots_ur16e.png :align: center :alt: UR16e Robot :width: 100% ``ur16e/ur16e.usd`` UR16e Model. The UR10 model also has three additional configurations. The first is a base version, which has no end effector and is used to compose the other versions. The second model has a wrist camera mount and a suction cup end effector, while the third version contains a larger vacuum gripper system. Assets Path: ``/Isaac/Robots/UR10/`` .. list-table:: * - .. figure:: /content/images/isaac_assets_ur10_base.png :align: center :alt: UR10 Base :width: 100% ``ur10.usd`` Base, No End Effector. - .. figure:: /content/images/isaac_assets_ur10_short_suction.png :align: center :alt: UR10 With Short Suction Gripper :width: 100% ``ur10_short_suction.usd`` Short Suction Gripper. - .. figure:: /content/images/isaac_assets_ur10_long_suction.png :align: center :alt: UR10 With Long Suction Gripper :width: 100% ``ur10_long_suction.usd`` Long Suction Gripper. .. _isaac_sim_asset_shadow_hand: Shadow Robot: Shadow Hand ########################## The Shadow dexterous robotic hand developed by Shadow Robot features 24 Revolute Joints between the arm, palm, and fingers to emulate human movement. Asset Path: ``/Isaac/Robots/ShadowHand/`` * ``shadow_hand.usd`` - Base Version. * ``shadow_hand_instanceable.usd`` - Base version set up to create multiple efficient clones for RL scenarios. .. figure:: /content/images/isaac_assets_shadowhand.png :align: center :alt: Shadow Hand :width: 50% Wonik Robotics: Allegro Hand ############################# The Allegro robotic hand developed by Wonik Robotics features 16 torque-controlled joints represented by Revolute Joints in |isaac-sim|. Asset Path: ``/Isaac/Robots/AllegroHand/`` * ``allegro_hand.usd`` - Base Version. * ``allegro_hand_instanceable.usd`` - Base version set up to create multiple efficient clones for RL scenarios. .. figure:: /content/images/isaac_assets_allegrohand.png :align: center :alt: Allegro Hand :width: 50% Aerial Robots -------------------- .. _isaac_sim_asset_crazyflie: Crazyflie ############################# The Crazyflie 2.X micro quadcopter robot. Asset Path: ``/Isaac/Robots/Crazyflie/cf2x.usd`` .. figure:: /content/images/isaac_assets_crazyflie_2x.png :align: center :alt: Crazyflie :width: 50% Ingenuity ############################# The Mars Helicopter, Ingenuity. Asset Path: ``/Isaac/Robots/Ingenuity/ingenutity.usd`` .. figure:: /content/images/isaac_assets_ingenuity.png :align: center :alt: Ingenuity, Mars Helicopter :width: 50% Quadcopter ############################# Generic quadcopter robot. Asset Path: ``/Isaac/Robots/Quadcopter/quadcopter.usd`` .. figure:: /content/images/isaac_assets_quadcopter.png :align: center :alt: Quadcopter :width: 50% Characters -------------------- Listed below are a few character available in Isaac-Sim. Police Man ############################# Male character in police uniform with retargeted skeleton. Asset Path: ``/Isaac/People/Characters/original_male_adult_police_04/male_adult_police_04.usd`` .. figure:: /content/images/Adult_Male_Police_04.PNG :align: center :alt: Police Man :width: 25% Male Doctor ############################# Male character in doctor uniform with retargeted skeleton. Asset Path: ``/Isaac/People/Characters/original_male_adult_medical_01/male_adult_medical_01.usd`` .. figure:: /content/images/Adult_Male_Medical_01.PNG :align: center :alt: Male Doctor :width: 25% Police Woman ############################# Female character in police uniform with retargeted skeleton. Asset Path: ``/Isaac/People/Characters/original_female_adult_police_02/female_adult_police_02.usd`` .. figure:: /content/images/Adult_Female_Police_02.PNG :align: center :alt: Police Woman :width: 25% Construction Worker ############################# Male character in construction uniform with retargeted skeleton. Asset Path: ``/Isaac/People/Characters/original_male_adult_construction_03/male_adult_construction_03.usd`` .. figure:: /content/images/Adult_Male_Construction_03.PNG :align: center :alt: Construction Worker :width: 25% .. note:: User can change a character's clothing color by modifying material's ``Property -> Material and Shader`` value Here is an example of how to change male_adult_construction_03's safety hat's color * First, expand the character on the stage menu and navigate to their ``Looks`` folder. Example - ``/World/male_adult_construction_03/Looks``. * Next, select your target material (Example - ``opaque__plastic__hardhat``) and change material's ``Property -> Material and Shader -> Albedo -> Color Tint`` value to adjust character's color. .. figure:: /content/images/Start_Color_Change_Male_Construction.PNG :align: center :alt: select male_adult_construction_03's hat's material :width: 66% .. figure:: /content/images/Middle_Color_Change_Male_Construction.PNG :align: center :alt: change hat color :width: 66% .. figure:: /content/images/Finish_Color_Change_Male_Construction.PNG :align: center :alt: change whole body color :width: 66% Miscellaneous Assets --------------------- Cartpole ######## The Cartpole agent depicts a cart with a free-spinning pole on a frictionless track. It is based on the OpenAI Gym Cartpole problem. Asset Path: ``/Isaac/Robots/Cartpole/cartpole.usd`` .. figure:: /content/images/isaac_assets_cartpole.png :align: center :alt: Cartpole :width: 50% Humanoid ############ The Humanoid asset depicts a humanoid agent with joints connecting appendages for emulating human movement. It is based on an asset from the DeepMind dm_control suite. Asset Path: ``/Isaac/Robots/Humanoid/`` * ``humanoid.usd`` - Base Version. * ``humanoid_instanceable.usd`` - Base version set up to create multiple efficient clones for RL scenarios. .. figure:: /content/images/isaac_assets_humanoid.png :align: center :alt: Humanoid :width: 50% JetRacer ######## This is Jetracer, a research platform for autonomous driving. Asset Path: ``/Isaac/Robots/JetRacer/jetracer.usd`` .. figure:: /content/images/isaac_sim_jetracer.png :align: center :alt: Jetracer :width: 50% Simple ###### The |nv| Simple example provides a starting point to experiment with Isaac Robotics. Asset Path: ``/Isaac/Robots/Simple/simple_articulation.usd`` .. figure:: /content/images/isaac_assets_simple_articulation.png :align: center :alt: Simple Articulation :width: 50% Vehicle Example ############### The basic vehicle example provides a framework for creating mobile platforms. Asset Path: ``/Isaac/Robots/Vehicle/`` .. figure:: /content/images/isaac_assets_basic_vehicle_m.png :align: center :alt: Basic Vehicle :width: 50% .. _isaac_sim_app_asset_april_tag: April Tags ----------- We provide a simple mdl material that can index into a April Tag mosaic image. To use, add the material to your stage using ``Create->Isaac->April Tag->`` or by dragging the following material into the stage from the content browser ``/Isaac/Materials/AprilTag/AprilTag.mdl`` Then create a mesh cube using ``Create->Mesh->Cube`` and assign the AprilTag material to that prim The material has the following parameters which need to be configured: - ``Mosaic texture`` The path to the texture that contains the grid of April tag images - ``Tag Size`` The width/height of the tag in pixels - ``Tags Per Row`` The number of tag images per row in the mosaic - ``Spacing`` The number of padding pixels between each tag image - ``Tag ID`` The index of the tag to use. Some sample mosaic textures are provided in ``/Isaac/Materials/AprilTag/Textures/`` The figure below shows example usage using ``/Isaac/Materials/AprilTag/Textures/tag36h11.png`` .. figure:: /content/images/isaac_april_tag.png :align: center :alt: April Tag Example Usage