Robot Assets

NVIDIA Isaac Sim supports a wide range of robots with differential bases, form factors, and functions.

These robots can be categorized as wheeled robots, holonomic robots, quadruped robots, robotic manipulator and aerial robots (drones). They can be found in the Content Browser in the Isaac Sim/Robots folder.

Wheeled

iRobot

Create3

USD Path: iRobot/Create3/create_3.usd

Properties

Number of Joints	4
Number of Links	5
Number of DOFs	4

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Turtlebot

Turtlebot3

USD Path: Turtlebot/Turtlebot3/turtlebot3_burger.usd

Properties

Number of Joints	2
Number of Links	3
Number of DOFs	2

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

NVIDIA

Robomaker

USD Path: NVIDIA/Robomaker/aws_robomaker_jetbot.usd

Properties

Number of Joints	5
Number of Links	6
Number of DOFs	2

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

NovaCarter

USD Path: NVIDIA/NovaCarter/nova_carter.usd

Properties

Number of Joints	7
Number of Links	8
Number of DOFs	7

Sensor/Accessory	Count
Camera	12
IMU	5
OmniSensor Lidar	3

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

Leatherback

USD Path: NVIDIA/Leatherback/leatherback.usd

Properties

Number of Joints	26
Number of Links	27
Number of DOFs	26

Sensors	Count
Camera	4

Physics APIs:

• PhysX ArticulationAPI

• PhysX CollisionAPI

Jetbot

USD Path: NVIDIA/Jetbot/jetbot.usd

Properties

Number of Joints	2
Number of Links	3
Number of DOFs	2

Sensors	Count
Camera	2

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

• PhysX SceneAPI

Carter

Variant 1

USD Path: NVIDIA/Carter/carter_v1.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	4

Sensors	Count
Camera	5

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

• PhysX SceneAPI

Variant 2

USD Path: NVIDIA/Carter/carter_v1_physx_lidar.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	4

Sensors	Count
Camera	4

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

• PhysX SceneAPI

IsaacSim

ForkliftC

USD Path: IsaacSim/ForkliftC/forklift_c.usd

Properties

Number of Joints	7
Number of Links	8
Number of DOFs	7

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX CollisionAPI

ForkliftB

Variant 1

USD Path: IsaacSim/ForkliftB/forklift_b.usd

Properties

Number of Joints	7
Number of Links	8
Number of DOFs	7

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX CollisionAPI

Variant 2

USD Path: IsaacSim/ForkliftB/forklift_b_sensor.usd

Properties

Number of Joints	N/A
Number of Links	N/A
Number of DOFs	N/A

Sensor/Accessory	Count
Camera	6
IMU	3
OmniSensor Lidar	1

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX CollisionAPI

Idealworks

iwhub

Variant 1

USD Path: Idealworks/iwhub/iw_hub.usd

Properties

Number of Joints	7
Number of Links	8
Number of DOFs	7

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

• PhysX SceneAPI

Variant 2

USD Path: Idealworks/iwhub/iw_hub_sensors.usd

Properties

Number of Joints	N/A
Number of Links	N/A
Number of DOFs	N/A

Sensors	Count
Camera	2

Physics APIs:

• PhysX RigidBodyAPI

• PhysX CollisionAPI

• PhysX JointAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

Variant 3

USD Path: Idealworks/iwhub/iw_hub_static.usd

Properties

Number of Joints	N/A
Number of Links	N/A
Number of DOFs	N/A

Fraunhofer

Evobot

USD Path: Fraunhofer/Evobot/evobot.usd

Properties

Number of Joints	14
Number of Links	15
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX CollisionAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

Clearpath

Jackal

Variant 1

USD Path: Clearpath/Jackal/jackal.usd

Properties

Number of Joints	4
Number of Links	5
Number of DOFs	4

Sensor/Accessory	Count
Camera	2
IMU	1

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Variant 2

USD Path: Clearpath/Jackal/jackal_basic.usd

Properties

Number of Joints	4
Number of Links	5
Number of DOFs	4

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Dingo

Variant 1

USD Path: Clearpath/Dingo/dingo.usd

Properties

Number of Joints	2
Number of Links	3
Number of DOFs	2

Sensors	Count
Camera	2

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Variant 2

USD Path: Clearpath/Dingo/dingo_basic.usd

Properties

Number of Joints	2
Number of Links	3
Number of DOFs	2

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

AgilexRobotics

limo

USD Path: AgilexRobotics/limo/limo.usd

Properties

Number of Joints	4
Number of Links	5
Number of DOFs	4

Sensors	Count
Camera	1

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

Manipulator

Yaskawa

Motoman Next

USD Path: Yaskawa/Motoman Next/NEX10/NEX10.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

Yahboom

Dofbot

USD Path: Yahboom/Dofbot/dofbot.usd

Properties

Number of Joints	11
Number of Links	12
Number of DOFs	11

Sensors	Count
Camera	1

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

• PhysX SceneAPI

WonikRobotics

AllegroHand

Variant 1

USD Path: WonikRobotics/AllegroHand/allegro.usd

Properties

Number of Joints	20
Number of Links	21
Number of DOFs	16

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Variant 2

USD Path: WonikRobotics/AllegroHand/allegro_hand.usd

Properties

Number of Joints	20
Number of Links	21
Number of DOFs	16

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

Variant 3

USD Path: WonikRobotics/AllegroHand/allegro_hand_instanceable.usd

Properties

Number of Joints	20
Number of Links	21
Number of DOFs	16

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

UniversalRobots

ur5e

USD Path: UniversalRobots/ur5e/ur5e.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

ur5

USD Path: UniversalRobots/ur5/ur5.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

ur3e

USD Path: UniversalRobots/ur3e/ur3e.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

ur30

USD Path: UniversalRobots/ur30/ur30.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX ArticulationAPI

ur3

USD Path: UniversalRobots/ur3/ur3.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

ur20

USD Path: UniversalRobots/ur20/ur20.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

ur16e

USD Path: UniversalRobots/ur16e/ur16e.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

ur10e

USD Path: UniversalRobots/ur10e/ur10e.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Accessories:

• Robotiq_2f_140

• Robotiq_2f_85

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

ur10

USD Path: UniversalRobots/ur10/ur10.usd

Properties

Number of Joints	7
Number of Links	8
Number of DOFs	6

Accessories:

• Long_Suction

• Short_Suction

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX ArticulationAPI

Unitree

Z1

USD Path: Unitree/Z1/z1.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

Dex5

USD Path: Unitree/Dex5/Dex5-URDF-R.usd

Properties

Number of Joints	20
Number of Links	21
Number of DOFs	20

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

Dex3

USD Path: Unitree/Dex3/dex3_1_r.usd

Properties

Number of Joints	7
Number of Links	8
Number of DOFs	7

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

Ufactory

xarm_gripper

USD Path: Ufactory/xarm_gripper/xarm_gripper.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX ArticulationAPI

xarm7

USD Path: Ufactory/xarm7/xarm7.usd

Properties

Number of Joints	14
Number of Links	15
Number of DOFs	13

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX ArticulationAPI

xarm6

USD Path: Ufactory/xarm6/xarm6.usd

Properties

Number of Joints	13
Number of Links	14
Number of DOFs	12

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX ArticulationAPI

uf850

USD Path: Ufactory/uf850/uf850.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

lite6_gripper

USD Path: Ufactory/lite6_gripper/uf_lite_gripper.usd

Properties

Number of Joints	2
Number of Links	3
Number of DOFs	2

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX ArticulationAPI

• PhysX RigidBodyAPI

lite6

USD Path: Ufactory/lite6/lite6.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

Techman

TM12

USD Path: Techman/TM12/tm12.usd

Properties

Number of Joints	9
Number of Links	10
Number of DOFs	6

Sensors	Count
Camera	1

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

ShadowRobot

ShadowHand

Variant 1

USD Path: ShadowRobot/ShadowHand/shadow_hand.usd

Properties

Number of Joints	25
Number of Links	26
Number of DOFs	24

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

Variant 2

USD Path: ShadowRobot/ShadowHand/shadow_hand_instanceable.usd

Properties

Number of Joints	25
Number of Links	26
Number of DOFs	24

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

Robotiq

Hand-E

Variant 1

USD Path: Robotiq/Hand-E/Robotiq_Hand_E_base.usd

Properties

Number of Joints	2
Number of Links	3
Number of DOFs	2

Physics APIs:

• PhysX ArticulationAPI

Variant 2

USD Path: Robotiq/Hand-E/Robotiq_Hand_E_edit.usd

Properties

Number of Joints	2
Number of Links	3
Number of DOFs	2

Physics APIs:

• PhysX ArticulationAPI

2F-85

USD Path: Robotiq/2F-85/Robotiq_2F_85_edit.usd

Properties

Number of Joints	8
Number of Links	9
Number of DOFs	6

Physics APIs:

• PhysX MimicJointAPI

• PhysX ArticulationAPI

• PhysX JointAPI

2F-140

Variant 1

USD Path: Robotiq/2F-140/2f140_instanceable.usd

Properties

Number of Joints	10
Number of Links	11
Number of DOFs	6

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

Variant 2

USD Path: Robotiq/2F-140/Robotiq_2F_140_base.usd

Properties

Number of Joints	8
Number of Links	9
Number of DOFs	8

Physics APIs:

• PhysX ArticulationAPI

Variant 3

USD Path: Robotiq/2F-140/Robotiq_2F_140_config.usd

Properties

Number of Joints	10
Number of Links	11
Number of DOFs	10

Sensor/Accessory	Count
Contact Sensor	1

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX SceneAPI

• PhysX ResidualReportingAPI

• PhysX MimicJointAPI

Variant 4

USD Path: Robotiq/2F-140/Robotiq_2F_140_physics_edit.usd

Properties

Number of Joints	8
Number of Links	9
Number of DOFs	8

Sensor/Accessory	Count
Contact Sensor	1

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX MimicJointAPI

• PhysX JointAPI

Variant 5

USD Path: Robotiq/2F-140/Collected_2f140_instanceable/2f140_instanceable.usd

Properties

Number of Joints	10
Number of Links	11
Number of DOFs	6

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

RobotStudio

so101_new_calib

USD Path: RobotStudio/so101_new_calib/so101_new_calib.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

so100

USD Path: RobotStudio/so100/so100.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

RethinkRobotics

Sawyer

USD Path: RethinkRobotics/Sawyer/sawyer_instanceable.usd

Properties

Number of Joints	12
Number of Links	13
Number of DOFs	8

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

Kuka

KR210_L150

USD Path: Kuka/KR210_L150/kr210_l150.usd

Properties

Number of Joints	8
Number of Links	9
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Kinova

Jaco2

Variant 1

USD Path: Kinova/Jaco2/J2N7S300/j2n7s300_instanceable.usd

Properties

Number of Joints	14
Number of Links	15
Number of DOFs	13

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Variant 2

USD Path: Kinova/Jaco2/J2N6S300/j2n6s300_instanceable.usd

Properties

Number of Joints	13
Number of Links	14
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Gen3

USD Path: Kinova/Gen3/gen3n7_instanceable.usd

Properties

Number of Joints	8
Number of Links	9
Number of DOFs	7

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Kawasaki

RS080N

USD Path: Kawasaki/RS080N/rs080n_onrobot_rg2.usd

Properties

Number of Joints	15
Number of Links	16
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

RS025N

USD Path: Kawasaki/RS025N/rs025n_onrobot_rg2.usd

Properties

Number of Joints	15
Number of Links	16
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

RS013N

USD Path: Kawasaki/RS013N/rs013n_onrobot_rg2.usd

Properties

Number of Joints	15
Number of Links	16
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

RS007N

USD Path: Kawasaki/RS007N/rs007n_onrobot_rg2.usd

Properties

Number of Joints	15
Number of Links	16
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

RS007L

USD Path: Kawasaki/RS007L/rs007l_onrobot_rg2.usd

Properties

Number of Joints	15
Number of Links	16
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

FrankaRobotics

FrankaPanda

USD Path: FrankaRobotics/FrankaPanda/franka.usd

Properties

Number of Joints	10
Number of Links	11
Number of DOFs	9

Accessories:

• AlternateFinger

• Default

• Robotiq_2F_85

Physics APIs:

• PhysX MimicJointAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX RigidBodyAPI

FrankaFR3

USD Path: FrankaRobotics/FrankaFR3/fr3.usd

Properties

Number of Joints	12
Number of Links	13
Number of DOFs	9

Physics APIs:

• PhysX MimicJointAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

FrankaEmika

USD Path: FrankaRobotics/FrankaEmika/panda_instanceable.usd

Properties

Number of Joints	10
Number of Links	11
Number of DOFs	9

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

FactoryFranka

Variant 1

USD Path: FrankaRobotics/FactoryFranka/factory_franka.usd

Properties

Number of Joints	11
Number of Links	12
Number of DOFs	9

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

Variant 2

USD Path: FrankaRobotics/FactoryFranka/factory_franka_instanceable.usd

Properties

Number of Joints	11
Number of Links	12
Number of DOFs	9

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Flexiv

Rizon4

USD Path: Flexiv/Rizon4/flexiv_rizon4.usd

Properties

Number of Joints	8
Number of Links	9
Number of DOFs	7

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

Festo

FestoCobot

USD Path: Festo/FestoCobot/festo_cobot.usd

Properties

Number of Joints	7
Number of Links	8
Number of DOFs	6

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

Fanuc

CRX10IAL

USD Path: Fanuc/CRX10IAL/crx10ial.usd

Properties

Number of Joints	9
Number of Links	10
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Denso

CobottaPro900

USD Path: Denso/CobottaPro900/cobotta_pro_900.usd

Properties

Number of Joints	14
Number of Links	15
Number of DOFs	12

Physics APIs:

• PhysX MimicJointAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

CobottaPro1300

USD Path: Denso/CobottaPro1300/cobotta_pro_1300.usd

Properties

Number of Joints	14
Number of Links	15
Number of DOFs	12

Physics APIs:

• PhysX MimicJointAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

Humanoid

XiaoPeng

PX5

Variant 1

USD Path: XiaoPeng/PX5/px5.usd

Properties

Number of Joints	16
Number of Links	17
Number of DOFs	16

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

Variant 2

USD Path: XiaoPeng/PX5/px5_without_housing.usd

Properties

Number of Joints	16
Number of Links	17
Number of DOFs	16

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

XHumanoid

Tien Kung

USD Path: XHumanoid/Tien Kung/tienkung.usd

Properties

Number of Joints	59
Number of Links	60
Number of DOFs	54

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

Unitree

H1

USD Path: Unitree/H1/h1.usd

Properties

Number of Joints	24
Number of Links	25
Number of DOFs	19

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

G1_23dof

Variant 1

USD Path: Unitree/G1_23dof/g1.usd

Properties

Number of Joints	N/A
Number of Links	N/A
Number of DOFs	N/A

Physics APIs:

• PhysX SceneAPI

• PhysX CollisionAPI

• PhysX JointAPI

• PhysX ArticulationAPI

Variant 2

USD Path: Unitree/G1_23dof/g1_minimal.usd

Properties

Number of Joints	N/A
Number of Links	N/A
Number of DOFs	N/A

Physics APIs:

• PhysX SceneAPI

• PhysX CollisionAPI

• PhysX JointAPI

• PhysX ArticulationAPI

G1

USD Path: Unitree/G1/g1.usd

Properties

Number of Joints	45
Number of Links	46
Number of DOFs	43

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX ArticulationAPI

SanctuaryAI

Phoenix

USD Path: SanctuaryAI/Phoenix/phoenix.usd

Properties

Number of Joints	77
Number of Links	78
Number of DOFs	77

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

RobotEra

STAR1

USD Path: RobotEra/STAR1/star1.usd

Properties

Number of Joints	55
Number of Links	56
Number of DOFs	55

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

Ihmcrobotics

Valkyrie

USD Path: Ihmcrobotics/Valkyrie/valkyrie.usd

Properties

Number of Joints	25
Number of Links	26
Number of DOFs	25

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

FourierIntelligence

GR-1

Variant 1

USD Path: FourierIntelligence/GR-1/GR1T2_fourier_hand_6dof/GR1T2_fourier_hand_6dof.usd

Properties

Number of Joints	54
Number of Links	55
Number of DOFs	54

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX SceneAPI

• PhysX ArticulationAPI

• This robot is in Isaac Lab

Variant 2

USD Path: FourierIntelligence/GR-1/GR1T1/GR1_T1.usd

Properties

Number of Joints	40
Number of Links	41
Number of DOFs	32

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Agility

Digit

USD Path: Agility/Digit/digit_v4.usd

Properties

Number of Joints	42
Number of Links	43
Number of DOFs	38

Sensors	Count
Camera	4

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX CollisionAPI

• PhysX ArticulationAPI

• This robot is in Isaac Lab

Cassie

USD Path: Agility/Cassie/cassie.usd

Properties

Number of Joints	14
Number of Links	15
Number of DOFs	14

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

Agibot

A2D

USD Path: Agibot/A2D/A2D.usd

Properties

Number of Joints	34
Number of Links	35
Number of DOFs	34

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX ArticulationAPI

1X

Neo

USD Path: 1X/Neo/Neo.usd

Properties

Number of Joints	33
Number of Links	34
Number of DOFs	33

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX ArticulationAPI

BoosterRobotics

BoosterT1

USD Path: BoosterRobotics/BoosterT1/T1_locomotion.usd

Properties

Number of Joints	23
Number of Links	24
Number of DOFs	23

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

Quadruped

Unitree

laikago

USD Path: Unitree/laikago/laikago.usd

Properties

Number of Joints	12
Number of Links	13
Number of DOFs	12

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

aliengo

USD Path: Unitree/aliengo/aliengo.usd

Properties

Number of Joints	12
Number of Links	13
Number of DOFs	12

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

Go2

USD Path: Unitree/Go2/go2.usd

Properties

Number of Joints	38
Number of Links	39
Number of DOFs	12

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Go1

Variant 1

USD Path: Unitree/Go1/go1.usd

Properties

Number of Joints	16
Number of Links	17
Number of DOFs	12

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

Variant 2

USD Path: Unitree/Go1/go1_sensor.usd

Properties

Number of Joints	16
Number of Links	17
Number of DOFs	12

Sensor/Accessory	Count
Contact Sensor	4

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

B2

USD Path: Unitree/B2/b2.usd

Properties

Number of Joints	30
Number of Links	31
Number of DOFs	12

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

A1

USD Path: Unitree/A1/a1.usd

Properties

Number of Joints	16
Number of Links	17
Number of DOFs	12

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

IsaacSim

Ant

Variant 1

USD Path: IsaacSim/Ant/ant.usd

Properties

Number of Joints	8
Number of Links	9
Number of DOFs	8

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Variant 2

USD Path: IsaacSim/Ant/ant_colored.usd

Properties

Number of Joints	N/A
Number of Links	N/A
Number of DOFs	N/A

Physics APIs:

• PhysX RigidBodyAPI

• PhysX CollisionAPI

• PhysX SceneAPI

Variant 3

USD Path: IsaacSim/Ant/ant_instanceable.usd

Properties

Number of Joints	8
Number of Links	9
Number of DOFs	8

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

BostonDynamics

spot

USD Path: BostonDynamics/spot/spot.usd

Properties

Number of Joints	16
Number of Links	17
Number of DOFs	12

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

ANYbotics

anymal_d

USD Path: ANYbotics/anymal_d/anymal_d.usd

Properties

Number of Joints	16
Number of Links	17
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX ArticulationAPI

anymal_c

USD Path: ANYbotics/anymal_c/anymal_c.usd

Properties

Number of Joints	17
Number of Links	18
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

anymal_b

USD Path: ANYbotics/anymal_b/anymal_b.usd

Properties

Number of Joints	16
Number of Links	17
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX ArticulationAPI

Holonomic

NVIDIA

Kaya

Variant 1

USD Path: NVIDIA/Kaya/kaya.usd

Properties

Number of Joints	33
Number of Links	34
Number of DOFs	33

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

Variant 2

USD Path: NVIDIA/Kaya/kaya_ogn_gamepad.usd

Properties

Number of Joints	N/A
Number of Links	N/A
Number of DOFs	N/A

Physics APIs:

• PhysX SceneAPI

• PhysX CollisionAPI

• PhysX JointAPI

• PhysX ArticulationAPI

Fraunhofer

O3dyn

Variant 1

USD Path: Fraunhofer/O3dyn/o3dyn.usd

Properties

Number of Joints	76
Number of Links	77
Number of DOFs	64

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

• PhysX SceneAPI

Variant 2

USD Path: Fraunhofer/O3dyn/o3dyn_controller.usd

Properties

Number of Joints	N/A
Number of Links	N/A
Number of DOFs	N/A

Physics APIs:

• PhysX RigidBodyAPI

• PhysX CollisionAPI

• PhysX JointAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

Variant 3

USD Path: Fraunhofer/O3dyn/o3dyn_trimmed.usd

Properties

Number of Joints	52
Number of Links	53
Number of DOFs	40

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

• PhysX SceneAPI

Aerial

NASA

Ingenuity

USD Path: NASA/Ingenuity/ingenuity.usd

Properties

Number of Joints	4
Number of Links	5
Number of DOFs	4

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX CollisionAPI

IsaacSim

Quadcopter

USD Path: IsaacSim/Quadcopter/quadcopter.usd

Properties

Number of Joints	8
Number of Links	9
Number of DOFs	8

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Bitcraze

Crazyflie

USD Path: Bitcraze/Crazyflie/cf2x.usd

Properties

Number of Joints	4
Number of Links	5
Number of DOFs	4

Physics APIs:

• PhysX ArticulationAPI

• This robot is in Isaac Lab

Isaac Sim Simple

IsaacSim

Vehicle

USD Path: IsaacSim/Vehicle/basic_vehicle_m.usd

Properties

Number of Joints	N/A
Number of Links	N/A
Number of DOFs	N/A

Physics APIs:

• PhysX RigidBodyAPI

• PhysX CollisionAPI

• PhysX SceneAPI

SimpleArticulation

Variant 1

USD Path: IsaacSim/SimpleArticulation/articulation_3_joints.usd

Properties

Number of Joints	3
Number of Links	4
Number of DOFs	3

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX CollisionAPI

Variant 2

USD Path: IsaacSim/SimpleArticulation/revolute_articulation.usd

Properties

Number of Joints	1
Number of Links	2
Number of DOFs	1

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX CollisionAPI

Variant 3

USD Path: IsaacSim/SimpleArticulation/simple_articulation.usd

Properties

Number of Joints	2
Number of Links	3
Number of DOFs	2

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX CollisionAPI

Humanoid28

USD Path: IsaacSim/Humanoid28/humanoid_28.usd

Properties

Number of Joints	14
Number of Links	15
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Humanoid

Variant 1

USD Path: IsaacSim/Humanoid/humanoid.usd

Properties

Number of Joints	15
Number of Links	16
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Variant 2

USD Path: IsaacSim/Humanoid/humanoid_instanceable.usd

Properties

Number of Joints	15
Number of Links	16
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

DifferentialBase

USD Path: IsaacSim/DifferentialBase/differential_base.usd

Properties

Number of Joints	2
Number of Links	3
Number of DOFs	2

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

Cartpole

USD Path: IsaacSim/Cartpole/cartpole.usd

Properties

Number of Joints	2
Number of Links	3
Number of DOFs	2

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

CartDoublePendulum

USD Path: IsaacSim/CartDoublePendulum/cart_double_pendulum.usd

Properties

Number of Joints	3
Number of Links	4
Number of DOFs	3

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

BalanceBot

USD Path: IsaacSim/BalanceBot/balance_bot.usd

Properties

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Mobile Manipulator

Clearpath

RidgebackUr

USD Path: Clearpath/RidgebackUr/ridgeback_ur5.usd

Properties

Number of Joints	9
Number of Links	10
Number of DOFs	9

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

RidgebackFranka

USD Path: Clearpath/RidgebackFranka/ridgeback_franka.usd

Properties

Number of Joints	18
Number of Links	19
Number of DOFs	12

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

BostonDynamics

spot

USD Path: BostonDynamics/spot/spot_with_arm.usd

Properties

Number of Joints	19
Number of Links	20
Number of DOFs	19

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI