Included Environments and Robots

Overview

Example assets are available for download with the Omniverse Isaac Sim release. To use the assets, you must install the files on an Omniverse Nucleus server either locally or in the cloud. All asset paths below are assumed to be relative to your Nucleus server.

Environments

Simple Grid

This simple environment contains a flat ground and sides with a grid texture. Two configurations are provided; the first has square corners, the second has curved corners.

Square Corners

Asset Path: /Isaac/Environments/Grid/gridroom_black.usd

Square Grid Room

Smooth Corners

Asset Path: /Isaac/Environments/Grid/gridroom_curved.usd

Curved Grid Room

Simple Room

A simple room containing a table Asset Path: /Isaac/Environments/Simple_Room/simple_room.usd

Simple Room

Small Warehouse

A small warehouse environment with shelving and objects that can be placed on them. Two configurations are provided, a single shelf configuration and a multi-shelf configuration.

Single Shelf Warehouse

Asset Path: /Isaac/Environments/Simple_Warehouse/warehouse.usd

Simple Room

Multiple Shelf Warehouse

Asset Path: /Isaac/Environments/Simple_Warehouse/warehouse_multiple_shelves.usd

Simple Room

Robots

Carter

The NVIDIA Carter robot provides a differential base for navigation-related applications

Asset Path: /Isaac/Robots/Carter/carter_sphere_wheels_lidar.usd

Carter Robot

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.

Base/Default

Asset Path: /Isaac/Robots/Franka/franka.usd

Franka Panda

Alternate Fingers

Asset Path: /Isaac/Robots/Franka/franka_alt_fingers.usd

Franka With Alternate Fingers

DofBot

This is DofBot, an affordable robotic arm with NVIDIA Jetson Nano.

Asset Path: /Isaac/Robots/Dofbot/dofbot.usd

DofBot

JetBot

The open-source NVIDIA JetBot AI robot platform gives makers, students, and enthusiasts everything they need to build creative, fun, intelligent AI applications.

Asset Path: /Isaac/Robots/Jetbot/jetbot.usd

JetBot AI

JetRacer

The NVIDIA JetRacer is an autonomous AI racecar using NVIDIA Jetson Nano.

Asset Path: /Isaac/Robots/Jetracer/jetracer.usd

Jetracer

Kaya

The NVIDIA 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

Kaya

Simple

The NVIDIA Simple example provides a starting point to experiment with Isaac Robotics.

Asset Path: /Isaac/Robots/Simple/simple_articulation.usd

Simple Articulation

Smart Transport Robot

The autonomous Smart Transport Robot (STR) was developed by BMW’s logistics innovation team and Fraunhofer Institute Dortmund.

Asset Path: /Isaac/Robots/Robots/STR_V4_Physics_Caster_Sensors.usda

Smart Transport Robot

Universal Robotics: UR10

The Universal Robotics UR10 is provided in three 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.

Base, No End Effector

Asset Path: /Isaac/Robots/UR10/ur10.usd

UR10 Base

Short Suction Gripper

Asset Path: /Isaac/Robots/UR10/ur10_short_suction.usd

UR10 With Short Suction Gripper

Long Suction Gripper

Asset Path: /Isaac/Robots/UR10/ur10_long_suction.usd

UR10 With Long Suction Gripper

Vehicle Examples

The basic vehicle examples provide a framework for creating mobile platforms with two standard units for measurement.

Basic Vehicle (cm)

This vehicle uses centimeters as the unit of measure.

Asset Path: /Isaac/Robots/Vehicle/basic_vehicle_cm.usd

Basic Vehicle Measured in Centimeters

Basic Vehicle (m)

This vehicle uses meters as the unit of measure.

Asset Path: /Isaac/Robots/Vehicle/basic_vehicle_m.usd

Basic Vehicle Measured in Meters

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

April Tag Example Usage