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 IsaacSim/Robots folder.
Limo
NVIDIA Isaac Sim supports the AgileX Limo robot with differential drive base with ROS integration.
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.
The open-source NVIDIA JetBot AI robot platform gives makers, students, and enthusiasts everything they need to build creative, fun, intelligent AI applications.
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.
The iw.hub robots can be found in Robots/Idealworks/iwhub
Robots/Idealworks/iwhub/iw_hub.usd - Base Version. Has mobile base physics rigged.#
Robots/Idealworks/iwhub/iw_hub_sensors.usd - Base Version plus sensors API (Lidar, First and third person navigation camera).
Robots/Idealworks/iwhub/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 NVIDIA Isaac Sim is equipped with a differential drive system and sensors for realistic simulation.
iRobot Create 3.
The Create 3 robot can be found in Robots/iRobot/Create3/create_3.usd - Base Version. Has mobile base physics rigged.
Leatherback is an NVIDIA research platform for autonomous driving.
Leatherback.
The Leatherback robot is located in Robots/NVIDIA/Leatherback/leatherback.usd
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
.03575
.233
leatherback
.0995
.24
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.
Robots/NVIDIA/Kaya/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.
The Fanuc CRX10iA/L is a 6-axis robot with a 10kg payload.
The Fanuc robot is located in Robots/Fanuc/CRX10IAL/crx10ial.usd#
Fanuc CRX10iA/L.
Festo
The Festo Cobot is a 6-axis pneumatic manipulator.
The Festo robot is located in Robots/Festo/FestoCobot/festo_cobot.usd#
Festo Cobot.
Flexiv
The Flexiv Rizon 4 is a 7-axis adaptive manipulator.
The Flexiv robot is located in Robots/Flexiv/Rizon4/flexiv_rizon4.usd#
Flexiv Rizon 4.
Franka 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.
The Franka robots are located in Robots/FrankaRobotics/FrankaPanda/franka.usd
Franka Panda with Variants set to default gripper and performance mesh.#
To create the robot: Create>Robots>Franka Emika Panda Arm
Franka Panda with Variants set to Alternate Fingers and quality mesh.#
Franka Research 3 (FR3)
The Franka robots are located in Robots/FrankaRobotics/FrankaFR3
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.
Additional UR10 models are in Robots/UniversalRobots/ur10/ur10.usd. There are three gripper variants included in the USD file.
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.
