Included Environments and Robots

General Omniverse Content

General content for Omniverse is found on the NVIDIA Omniverse Mount on your Nucleus 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 Omniverse.

More information about this content can be found at Omniverse Mount Content.

Isaac Sim Content

Sample assets are available for download with the Omniverse Isaac Sim release. To use this content, you must download the files to a Nucleus server or create an Isaac Mount on a Nucleus server. All asset paths below are assumed to be relative to your Nucleus server.

More information about how to install this content can be found at Isaac Sim First Run or at Sample Assets.

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/

Square Grid Room

default_environment.usd

Square Grid Room

gridroom_black.usd

Curved Grid Room

gridroom_curved.usd

Simple Room

A simple room containing a table.

Asset Path: /Isaac/Environments/Simple_Room/simple_room.usd

Simple Room

Warehouse

A warehouse environment with shelving and objects that can be placed on them. Four configurations are provided:

Assets Path: /Isaac/Environments/Simple_Warehouse/

Simple Warehouse

warehouse.usd

A small warehouse with a single shelf.

Simple Warehouse

warehouse_with_forklifts.usd

A small warehouse with a single shelf and forklifts.

Small warehouse multiple shelves

warehouse_multiple_shelves.usd

A small warehouse with multiple shelves.

Full Warehouse

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

Hospital

Office

An Office Environment, with multiple rooms and an open plan floor.

Asset Path: /Isaac/Environments/Office/office.usd

Office

Jetracer Track

A jetracer track outlined on the ground plane.

Asset Path: /Isaac/Environments/Jetracer/jetracer_track_solid.usd

Jetracer Track

Differential Robots

Carter

The NVIDIA 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/

Carter Robot

carter_v1.usd

Carter Robot

carter_v2.usd

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 AI

aws_robomaker_jetbot.usd

Jetbot simplified model.

JetBot AI

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.

Smart Transport Robot

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 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.

Kaya

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.

O3dyn Robot

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.

Ant

ANYbotics ANYmal

The ANYmal robot is an autonomous quadruped robot developed by ANYbotics.

Assets Path: /Isaac/Robots/ANYbotics/anymal_c.usd:

Anymal Robot

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/

Unitree A1

a1.usd

Unitree Go1

go1.usd

Note

To see examples controlling quadruped robots: Quadruped

Robotic Manipulators

DofBot

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

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

DofBot

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/

Franka Panda

franka.usd

Base Franka.

Franka With Alternate Fingers

franka_alt_fingers.usd

Franka With Alternate Fingers.

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.

Shadow Hand

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.

Assets Path: /Isaac/Robots/UR10/

UR10 Base

ur10.usd

Base, No End Effector.

UR10 With Short Suction Gripper

ur10_short_suction.usd

Short Suction Gripper.

UR10 With Long Suction Gripper

ur10_long_suction.usd

Long Suction Gripper.

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.

Allegro Hand

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

Cartpole

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.

Humanoid

JetRacer

This is Jetracer, a research platform for autonomous driving.

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

Jetracer

Simple

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

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

Simple Articulation

Vehicle Example

The basic vehicle example provides a framework for creating mobile platforms.

Asset Path: /Isaac/Robots/Vehicle/

Basic Vehicle

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