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). They can be found in omniverse://localhost/NVIDIA/Assets/Isaac/4.1

Differential Robots

Limo

Omniverse Isaac Sim supports Agilex limo robot with differnetial drive base with ROS integration.

Aset Path: /Isaac/Robots/AgilexRobotics/limo/limo.usd

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/

Clearpath

Omniverse Isaac Sim supports Clearpath mobile robots, including the Dingo, Jackal, and Ridgeback.

Assets Path: /Isaac/Robots/Clearpath/

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.

Clearpath Ridgeback with Franka manipulator — `RidgebackFranka/ridgeback_franka.usd`

Clearpath Ridgeback with UR5 manipulator — `RidgebackUr/ridgeback_ur5.usd`

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.

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/

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.

Smart Transport Robot — Assets Path: `/Isaac/Robots/Idealworks/`

iw_hub.usd - Base Version. Has mobile base physics rigged.
iw_hub_sensors.usd - Base Version plus sensors API (Lidar, First and third person navigation camera).
iw_hub_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/

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

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.

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.

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.

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.

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.

Unitree Quadruped Robots

The A1, B2, Go1, and Go2 are quadruped robots developed by Unitree robotics, simulated in Isaac Sim. A1 quadruped is used in the quadruped example.

Assets Path: /Isaac/Robots/Unitree/

`A1/a1.usd`	`B2/B2.usd`
`Go1/go1.usd`	`Go2/go2.usd`

Boston Dynamics Spot

Asset Path: /Isaac/Robots/BostonDynamics/spot

Note

To see examples controlling quadruped robots: Quadruped Extension

Robotic Manipulators

Denso Cobotta

The following Denso models models are included: Cobotta Pro 900, Cobotta Pro 1300.

Assets Path: /Isaac/Robots/Denso/

/cobotta_pro_900.usd

Denso Cobotta Pro 900 Model.

/cobotta_pro_1300.usd

Denso Cobotta Pro 1300 Model.

Fanuc

The Fanuc CRX10iA/L is a 6-axis robot with a 10kg payload.

Festo

The Festo Cobot is a 6-axis pneumatic manipulator.

Flexiv: Rizon 4

The Flexiv Robot Rizon 4 is a 7-axis adaptive manipulator.

Flexiv Adaptive Robot — 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/rs007l_onrobot_rg2.usd` RS007L Model.	`RS007N/rs007n_onrobot_rg2.usd` RS007N Model.
`RS013N/rs013n_onrobot_rg2.usd` RS013N Model.	`RS025N/rs025n_onrobot_rg2.usd` RS025N Model.

RS080N Robot — `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 robot — `Gen3/gen3n7_instanceable.usd`

Gen 3 Model.

J2N6S300 Robot — `Jaco2/J2N6S300/j2n6s300_instanceable.usd`

J2N6S300 Model.

J2N7S300 Robot — `Jaco2/J2N7S300/j2n7s300_instanceable.usd`

J2N7S300 Model.

Kuka

Our library has the following Kuka model: KR210.

KR210 Robot — Assets Path: `/Isaac/Robots/Kuka/KR210/kr210.usd`

Rethink Robotics

Our library has the following Rethink Robotics model: Sawyer.

Sawyer Robot — Assets Path: `/Isaac/Robots/RethinkRobotics/sawyer_instanceable.usd`

Robotiq

Our library has the following Robotiq models: 2F-140, 2F-85, and Hand-E.

Assets Path: /Isaac/Robots/Robotiq

2F-140 Model.

2F-85 Model.

Hand-E Robot — `Hand-E/Robotiq_Hand_E_base.usd`

Hand-E Model.

Techman

Our library has the following Techman Robot model: TM12.

TM12 Robot — 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, UR20, and UR30.

Assets Path: /Isaac/Robots/UniversalRobots/

`ur3/ur3.usd` UR3 Model.	`ur3e/ur3e.usd` UR3e Model.
`ur5/ur5.usd` UR5 Model.	`ur5e/ur5e.usd` UR5e Model.
`ur10/ur10.usd` UR10 Model.	`ur10e/ur10e.usd` UR10e Model.

UR16e Robot — `ur16e/ur16e.usd`

UR16e Model.

UR20 Robot — `ur20/ur20.usd`

UR20 Model.

UR30 Robot — `ur30/ur30.usd`

UR30 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/