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 Adding Sample Assets via Mount.


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


Square Grid Room


Curved Grid Room


Simple Room

A simple room containing a table.

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

Simple Room


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


A small warehouse with a single shelf.

Simple Warehouse


A small warehouse with a single shelf and forklifts.

Small warehouse multiple shelves


A small warehouse with multiple shelves.

Full Warehouse


A full-sized warehouse with shelves, obstacles on the floors, and forklifts.


A hospital environment, with multiple rooms and spaces.

Asset Path: /Isaac/Environments/Hospital/hospital.usd



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

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


Jetracer Track

A jetracer track outlined on the ground plane.

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

Jetracer Track



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 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.

Assets Path: /Isaac/Robots/Franka/

Franka Panda


Base Franka.

Franka With Alternate Fingers


Franka With Alternate Fingers.


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

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



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


Jetbot simplified model.

JetBot AI


High-resolution Jetbot model imported from CAD.


This is Jetracer, a research platform for autonomous driving

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



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



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.

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

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


Base, No End Effector.

UR10 With Short Suction Gripper


Short Suction Gripper.

UR10 With Long Suction Gripper


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)

Asset Path: /Isaac/Robots/Vehicle/

Basic Vehicle Measured in Centimeters


This vehicle uses centimeters as the unit of measure.

Basic Vehicle Measured in Meters

This vehicle uses meters as the unit of measure.


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


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