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 Isaac Sim Asset Browser in the Robots folder.
Limo
NVIDIA Isaac Sim supports the AgileX Limo robot with differential drive base with ROS integration.
Robots/AgilexRobotics/Limo/limo.usd#
Limo.
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.
The Carter robots are in the Robots/Carter.
Clearpath
NVIDIA Isaac Sim supports Clearpath mobile robots, including the Dingo and Jackal.
The Clearpath robots are in the Robots/Clearpath.
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.
Robots/Evobot/EvoBot.usd#
Evobot.
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.
The forklifts are located in 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.
The Jetbots are located in Robots/Jetbot
JetBot - simplified model. |
JetBot - high-resolution 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.
The iw.hub robots can be found in Robots/Idealworks
|
Robots/Idealworks/iw_hub.usd- Base Version. Has mobile base physics rigged.Robots/Idealworks/iw_hub_sensors.usd- Base Version plus sensors API (Lidar, First and third person navigation camera).Robots/Idealworks/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/create_3.usd- Base Version. Has mobile base physics rigged.
Note
For more details, see iRobot Create 3 documentation.
Leatherback
Leatherback is an NVIDIA research platform for autonomous driving.
Leatherback. The Leatherback robot is located in |
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.
Kaya is located in Robots/Kaya#
NVIDIA Kaya.
Robots/Kaya/kaya.usd- Base Version.Robots/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.
Assets Path: Robots/O3dyn#
Fraunhofer O3dyn.
Robots/O3dyn/o3dyn.usd- Base Version. Has mobile base, grippers and lift physics rigged, sensors positioning.Robots/O3dyn/o3dyn_controller.usd- Base Version plus rigged gamepad control using the holonomic controller.
Note
For more details, see Fraunhofer O3dyn documentation.
Ant
The Ant is a basic four-legged robot with revolute joints on its legs. It is based on the OpenAI Gym Ant.
The Ant robots are in Robots/Ant#
Ant.
Robots/Ant/ant.usd- Base version. Created by Create>Robots>Ant in the menu.Robots/Ant/ant_instanceable.usd- Instanceable version configured to create multiple efficient clones for RL scenarios.
ANYbotics ANYmal
The ANYmal robots are autonomous quadruped robot developed by ANYbotics. Three variants, B, C, D are supported in Isaac Sim.
The Anymal robot is located in ANYbotics ANYmal B. |
The Anymal C robot is located in ANYbotics ANYmal C. |
The Anymal robot is located in ANYbotics ANYmal D. |
Boston Dynamics Spot
The Spot robot is located in Robots/BostonDynamics/spot
Robots/BostonDynamics/spot/spot.usd#
Spot.
To create the robot from menu: Create>Robots>Boston Dynamics Spot(Quadruped)
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: Robots/Unitree
Unitree A1. |
Unitree B2. |
Unitree Go1. |
Unitree Go2. |
Unitree Aliengo. |
Unitree Laikago. |
Note
To see examples controlling quadruped robots: Reinforcement Learning Policies Examples in Isaac Sim
Denso Cobotta
The following Denso models models are included: Cobotta Pro 900, Cobotta Pro 1300.
The Denso robots are located in Robots/Denso
Cobotta Pro 900. |
Cobotta Pro 1300. |
Fanuc
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 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.
The Franka robots are located in Robots/Franka
Base Franka. To create the robot: Create>Robots>Franka Emika Panda Arm |
Franka With Alternate Fingers. |
Franka FR3. |
Kawasaki
Our library has following Kawasaki Robot models: RS007L, RS007N, RS013N, RS025N, RS080N.
The Kawasaki robot is located in Robots/Kawasaki
RS007L Model. |
RS007N Model. |
RS013N Model. |
RS025N Model. |
Robots/Kawasaki/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.
The Kinova robots are in Robots/Kinova
Gen 3 Model. |
J2N6S300 Model. |
J2N7S300 Model. |
Kuka
Our library has the following Kuka model: KR210 L150.
The Kuka robot is located in Robots/Kuka/KR210_L150/kr210_l150.usd#
KR210 L150.
Rethink Robotics
Our library has the following Rethink Robotics model: Sawyer.
The Sawyer robot is located in Robots/RethinkRobotics/sawyer_instanceable.usd#
Robotiq
Our library has the following Robotiq models: 2F-140, 2F-85, and Hand-E.
The robotiq grippers are in Robots/Robotiq
2F-140 Model. |
2F-85 Model. |
Hand-E Model. |
Techman
Our library has the following Techman Robot model: TM12.
The TM12 robot is in Robots/Techman/TM12/tm12.usd#
TM12.
Universal Robots
NVIDIA Isaac Sim supports the following Universal Robots models: UR3/3e, UR5/5e, UR10/10e, UR16e, UR20, and UR30.
The UR robots are located in Robots/UniversalRobots
UR3 Model. |
UR3e Model. |
UR5 Model. |
UR5e Model. |
UR10 Model. |
UR10e Model. |
UR16e Model. |
UR20 Model. |
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.
Additional UR10 models are in Robots/UR10
Base, No End Effector. |
Short Suction Gripper. |
Long Suction Gripper. |
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.
The shadow_hand grippers are in Robots/ShadowHand#
Robots/ShadowHand/shadow_hand.usd- Base Version.Robots/ShadowHand/shadow_hand_instanceable.usd- Base version set up to create multiple efficient clones for RL scenarios.
Wonik Robotics: Allegro Hand
The Allegro robotic hand developed by Wonik Robotics features 16 torque-controlled joints represented by Revolute Joints in NVIDIA Isaac Sim.
The allegro_hand grippers are in Robots/AllegroHand#
Robots/AllegroHand/allegro_hand.usd- Base Version.Robots/AllegroHand/allegro_hand_instanceable.usd- Base version set up to create multiple efficient clones for RL scenarios.
Yasakaw Motoman: Nex10
Nex10 developed by Yasakaw Motoman features 6 torque-controled joints represented by Revolute Joints in NVIDIA Isaac Sim.
Robots/Yasakaw Motoman/NEX10/nex10.usd#
Crazyflie
The Crazyflie 2.X micro quadcopter robot.
The Crazyflie asset is in Robots/Crazyflie/cf2x.usd#
Ingenuity
The Mars Helicopter, Ingenuity.
The Ingenuity asset is in Robots/Ingenuity/ingenuity.usd#
Quadcopter
Generic quadcopter robot.
A generic quadcopter asset is in Robots/Quadcopter/quadcopter.usd#
1X NEO
Robots/1X/Neo/neo.usd#
Agility Digit
Robots/Agility/Digit/digit_v4.usd#
Apptronik Apollo
Robots/Apptronik/Apollo/apptronik_apollo_model.usd#
Fourier Intelligence GR1
The Fourier Intelliegence GR1 robots are in Robots/FourierIntelligence/GR-1
RobotEra Star1
Robots/RobotEra/STAR1/star1.usd#
Sanctuary AI Phoenix
Robots/SanctuaryAI/Phoenix/phoenix.usd#
Unitree Humanoids
The Unitree humanoid robots are in Robots/Unitree
Xiao Peng PX5
The Xiao Peng PX5 robots are located in Robots/XiaoPeng/PX5
XHumanoid
Robots/XHumanoid/Tien Kung/tienkung.usd#
Clearpath Ridgeback
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.
The Clearpath robots are in the Robots>Clearpath.
Boston Dynamics Spot
The Spot robot with arm is located in Robots>BostonDynamics>spot
spot_with_arm.usd#
Spot (with arm).