Robot Assets
NVIDIA Isaac Sim supports a wide range of robots with differential bases, form factors, and functions.
These robots can be categorized as differential robots, holonomic robots, quadruped robots, robotic manipulator and aerial robots (drones).
Carter
The NVIDIA Carter robot provides a differential base for navigation-related applications. Nova Carter is the next generation Carter robot, based on the Nova Orin compute and sensor platform.
Assets Path: /Isaac/Robots/Carter/
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Clearpath
Omniverse Isaac Sim supports Clearpath mobile robots, including the Dingo, Jackal, and Ridgeback.
Assets Path: /Isaac/Robots/Clearpath/
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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.
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Evobot
The Evobot is a self-balancing robot with a 2-wheel drive, designed to grasp and transport objects. It was developed by Fraunhofer Institute Dortmund.
Assets Path: /Isaac/Robots/Evobot/EvoBot.usd
Forklift
The forklift model has a single pivot wheel and rollers. It uses a prismatic joint tied to an Articulation Action to control the lift.
Assets Path: /Isaac/Robots/Forklift/
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JetBot
The open-source NVIDIA JetBot AI robot platform gives makers, students, and enthusiasts everything they need to build creative, fun, intelligent AI applications.
Assets Path: /Isaac/Robots/Jetbot/
Jetbot simplified model. |
High-resolution Jetbot model imported from CAD. |
Idealworks iw.hub
Idealworks iw.hub is an mobile base equipped with LIDARs and cameras to enable autonomous navigation, powered by NVIDIA AGX GPU. Capable of carrying payloads of 1,000kg, iw.hub can drive at up to 2.2m/s speeds.
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.
iRobot Create 3
The Create3 robot by iRobot is an advanced differential robot designed for a variety of educational applications. It features a circular base with integrated sensors and advanced control capabilities, making it well-suited for indoor navigation, mapping, and similar tasks. The Create3 robot in Omniverse Isaac Sim is equipped with a differential drive system and sensors for realistic simulation.
Assets Path: /Isaac/Robots/Create3/
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create_3.usd- Base Version. Has mobile base physics rigged.create_3_sensors.usd- Base Version plus IMU.
Note
For more details, see iRobot Create 3 documentation.
Differential base robot measurement reference:
Robot |
Wheel Radius (m) |
Wheel Separation (m) |
carter_v1 |
.24 |
.54 |
nova_carter |
.14 |
.413 |
jetbot |
.0325 |
.118 |
iw.hub |
.08 |
.58 |
create_3 |
.0.03575 |
.233 |
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- Base Version.kaya_ogn_gamepad.usd- Base Version plus rigged gamepad control using the holonomic controller.
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.
Note
For more details, see Fraunhofer O3dyn documentation.
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.
ANYbotics ANYmal
The ANYmal robot is an autonomous quadruped robot developed by ANYbotics.
Assets Path: /Isaac/Robots/ANYbotics/anymal_c.usd:
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/
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Note
To see examples controlling quadruped robots: Quadruped Example
Denso Cobotta
The following Denso models models are included: Cobotta Pro 900, Cobotta Pro 1300.
Assets Path: /Isaac/Robots/Denso/
Denso Cobotta Pro 900 Model. |
Denso Cobotta Pro 1300 Model. |
DofBot
This is DofBot, an affordable robotic arm with NVIDIA Jetson Nano.
Asset Path: /Isaac/Robots/Dofbot/dofbot.usd
Fanuc
The Fanuc CRX10iA/L is a 6-axis robot with a 10kg payload.
Asset Path: /Isaac/Robots/Fanuc/crx10ial.usd
Festo
The Festo Cobot is a 6-axis pneumatic manipulator.
Asset Path: /Isaac/Robots/Festo/festo_cobot.usd
Flexiv: Rizon 4
The Flexiv Robot Rizon 4 is a 7-axis adaptive manipulator.
Asset Path: /Isaac/Robots/Flexiv/Rizon4/flexiv_ronzin4.usd
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/
Base Franka. |
Franka With Alternate Fingers. |
Kawasaki
Our library has following Kawasaki Robot models: RS007L, RS007N, RS013N, RS025N, RS080N.
Assets Path: /Isaac/Robots/Kawasaki/
RS007L Model. |
RS007N Model. |
RS013N Model. |
RS025N Model. |
RS080N/rs080n_onrobot_rg2.usd
RS080N Model.
Kinova
Our library has the following Kinova Robot models: Gen 3, Jaco 2 J2N6300, and Jaco 2 J2N7S300.
Assets Path: /Isaac/Robots/Kinova/
Gen 3 Model. |
J2N6S300 Model. |
J2N7S300 Model. |
Kuka
Our library has the following Kuka model: KR210.
Assets Path: /Isaac/Robots/Kuka/KR210/kr210.usd
Rethink Robotics
Our library has the following Rethink Robotics model: Sawyer.
Assets Path: /Isaac/Robots/RethinkRobotics/sawyer_instanceable.usd
Robotiq
Our library has the following Robotiq models: 2F-140, 2F-85, and 2F-C2.
Assets Path: /Isaac/Robots/Robotiq
2F-140 Model. |
2F-85 Model. |
2F-C2 Model. |
Techman
Our library has the following Techman Robot model: TM12.
Assets Path: /Isaac/Robots/Techman/TM12/tm12.usd
Universal Robotics
Omniverse Isaac Sim supports the following Universal Robots models: UR3/3e, UR5/5e, UR10/10e, UR16e.
Assets Path: /Isaac/Robots/UniversalRobots/
UR3 Model. |
UR5 Model. |
UR3e Model. |
UR5e Model. |
UR10e Model. |
UR16e Model. |
ur10/ur10.usd
UR10 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/
Base, No End Effector. |
Short Suction Gripper. |
Long Suction Gripper. |
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.
Wonik Robotics: Allegro Hand
The Allegro robotic hand developed by Wonik Robotics features 16 torque-controlled joints represented by Revolute Joints in Omniverse 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.
