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.

iRobot
Create3 Robot

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

License: BSD-3

Turtlebot
Turtlebot3 Robot

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

License: Apache 2.0

NVIDIA
Robomaker Robot

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

License: MIT

NovaCarter Robot

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

License: 3D Content Sharing Agreement

Leatherback Robot

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

License: NVIDIA

Jetbot Robot

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

License: Email confirmation: Jetbot 3D drawing

Carter Robot 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

License: NVIDIA

Carter Robot 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

License: NVIDIA

IsaacSim
ForkliftC Robot

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 Robot 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

ForkliftB Robot 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 Robot 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

iwhub Robot 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

iwhub Robot 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 Robot

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

License: 3D Content Sharing Agreement

Clearpath
Jackal Robot 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

License: BSD-3

Jackal Robot 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

License: BSD-3

Dingo Robot 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

License: BSD-3

Dingo Robot 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

License: BSD-3

AgilexRobotics
limo Robot

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

License: BSD-3

Yaskawa
Motoman Next Robot NHC12

USD Path: Yaskawa/Motoman Next/NHC12/NHC12_A00.usd#

Properties

Number of Joints

6

Number of Links

7

Number of DOFs

6

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

Motoman Next Robot NEX7

USD Path: Yaskawa/Motoman Next/NEX7/NEX7_C00_c00.usd#

Properties

Number of Joints

6

Number of Links

7

Number of DOFs

6

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

Motoman Next Robot NEX4

USD Path: Yaskawa/Motoman Next/NEX4/NEX4_C00.usd#

Properties

Number of Joints

6

Number of Links

7

Number of DOFs

6

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

Motoman Next Robot NEX35

USD Path: Yaskawa/Motoman Next/NEX35/NEX35_C00.usd#

Properties

Number of Joints

6

Number of Links

7

Number of DOFs

6

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

Motoman Next Robot NEX20

USD Path: Yaskawa/Motoman Next/NEX20/NEX20_C00.usd#

Properties

Number of Joints

6

Number of Links

7

Number of DOFs

6

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

Motoman Next Robot NEX10

USD Path: Yaskawa/Motoman Next/NEX10/NEX10_C00.usd#

Properties

Number of Joints

6

Number of Links

7

Number of DOFs

6

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

Yahboom
Dofbot Robot

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

License: Email confirmation: Yahboom Technology

WonikRobotics
AllegroHand Robot 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

License: BSD-2

AllegroHand Robot 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

License: BSD-2

AllegroHand Robot 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

License: BSD-2

UniversalRobots
ur5e Robot

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

License: BSD-3

ur5 Robot

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

License: BSD-3

ur3e Robot

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

License: BSD-3

ur30 Robot

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

License: BSD-3

ur3 Robot

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

License: BSD-3

ur20 Robot

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

License: BSD-3

ur16e Robot

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

License: BSD-3

ur10e Robot

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

License: BSD-3

ur10 Robot

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

License: BSD-3

Unitree
Z1 Robot

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

License: BSD-3

Dex5 Robot

USD Path: Unitree/Dex5/Dex5-URDF-R.usda#

Properties

Number of Joints

20

Number of Links

21

Number of DOFs

20

Physics APIs:

  • PhysX JointAPI

  • PhysX ArticulationAPI

License: BSD-3

Dex3 Robot

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

License: BSD-3

Ufactory
xarm_gripper Robot

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

License: 3D Content Sharing Agreement

xarm7 Robot

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

License: 3D Content Sharing Agreement

xarm6 Robot

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

License: 3D Content Sharing Agreement

uf850 Robot

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

License: 3D Content Sharing Agreement

lite6_gripper Robot

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

License: 3D Content Sharing Agreement

lite6 Robot

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

License: 3D Content Sharing Agreement

Techman
TM12 Robot

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

License: 3D Content Sharing Agreement

ShadowRobot
ShadowHand Robot 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

License: BSD-3

ShadowHand Robot 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

License: BSD-3

Robotiq
Hand-E Robot 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

License: 3D Content Sharing Agreement

Hand-E Robot Variant 3

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

License: 3D Content Sharing Agreement

2F-85 Robot

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

License: 3D Content Sharing Agreement

2F-140 Robot 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

License: 3D Content Sharing Agreement

2F-140 Robot 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

License: 3D Content Sharing Agreement

2F-140 Robot 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

License: 3D Content Sharing Agreement

2F-140 Robot 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

License: 3D Content Sharing Agreement

2F-140 Robot 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

License: 3D Content Sharing Agreement

Psyonic
ability_hand_left_large Robot

USD Path: Psyonic/ability_hand_left_large/ability_hand_left_large.usd#

Properties

Number of Joints

12

Number of Links

13

Number of DOFs

11

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

ability_hand_left_small Robot

USD Path: Psyonic/ability_hand_left_small/ability_hand_left_small.usd#

Properties

Number of Joints

12

Number of Links

13

Number of DOFs

11

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

ability_hand_right_large Robot

USD Path: Psyonic/ability_hand_right_large/ability_hand_right_large.usd#

Properties

Number of Joints

12

Number of Links

13

Number of DOFs

11

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

ability_hand_right_small Robot

USD Path: Psyonic/ability_hand_right_small/ability_hand_right_small.usd#

Properties

Number of Joints

12

Number of Links

13

Number of DOFs

11

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

Schunk
egk_25 Robot

USD Path: Schunk/egk_25/schunk_egk_25.usd#

Properties

Number of Joints

2

Number of Links

3

Number of DOFs

2

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

egu_50 Robot

USD Path: Schunk/egu_50/schunk_egu_50.usd#

Properties

Number of Joints

2

Number of Links

3

Number of DOFs

2

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

ezu_35 Robot

USD Path: Schunk/ezu_35/schunk_ezu_35.usd#

Properties

Number of Joints

2

Number of Links

3

Number of DOFs

2

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

svh-flat-l Robot

USD Path: Schunk/svh-flat-l/svh-flat-l_v2.usd#

Properties

Number of Joints

24

Number of Links

25

Number of DOFs

24

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

svh-flat-r Robot

USD Path: Schunk/svh-flat-r/svh-flat-r_v2.usd#

Properties

Number of Joints

24

Number of Links

25

Number of DOFs

24

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

RobotStudio
so101_new_calib Robot

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

License: Apache 2.0

so100 Robot

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

License: Apache 2.0

RethinkRobotics
Sawyer Robot

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

License: Apache 2.0

Kuka
KR210_L150 Robot

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

License: Apache 2.0

Kinova
Jaco2 Robot 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

Jaco2 Robot 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 Robot

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 Robot

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

License: 3D Content Sharing Agreement

RS025N Robot

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

License: 3D Content Sharing Agreement

RS013N Robot

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

License: 3D Content Sharing Agreement

RS007N Robot

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

License: 3D Content Sharing Agreement

RS007L Robot

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

License: 3D Content Sharing Agreement

FrankaRobotics
FrankaPanda Robot

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

License: Apache 2.0

FrankaFR3 Robot

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

License: Apache 2.0

FrankaEmika Robot

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

License: Apache 2.0

FactoryFranka Robot 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

License: Apache 2.0

FactoryFranka Robot 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

License: Apache 2.0

Flexiv
Rizon4 Robot

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

License: 3D Content Sharing Agreement

Fanuc
CRX10IAL Robot

USD Path: Fanuc/crx10ial_l/crx10ial_l.usd#

Properties

Number of Joints

9

Number of Links

10

Number of DOFs

6

Physics APIs:

  • PhysX SceneAPI

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

cr_50f_16b Robot

USD Path: Fanuc/cr_50f_16b/cr_50f_16b.usd#

Properties

Number of Joints

7

Number of Links

8

Number of DOFs

6

Physics APIs:

  • PhysX SceneAPI

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

crx10ia Robot

USD Path: Fanuc/crx10ia/crx10ia.usd#

Properties

Number of Joints

7

Number of Links

8

Number of DOFs

6

Physics APIs:

  • PhysX SceneAPI

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

crx5ia Robot

USD Path: Fanuc/crx5ia/crx5ia.usd#

Properties

Number of Joints

7

Number of Links

8

Number of DOFs

6

Physics APIs:

  • PhysX SceneAPI

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

lrmate200id Robot

USD Path: Fanuc/lrmate200id/lrmate200id.usd#

Properties

Number of Joints

7

Number of Links

8

Number of DOFs

6

Physics APIs:

  • PhysX SceneAPI

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

m710ic_50 Robot

USD Path: Fanuc/m710ic_50/m710ic_50.usd#

Properties

Number of Joints

7

Number of Links

8

Number of DOFs

6

Physics APIs:

  • PhysX SceneAPI

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

r2000ic_165f Robot

USD Path: Fanuc/r2000ic_165f/r2000ic_165f.usd#

Properties

Number of Joints

7

Number of Links

8

Number of DOFs

6

Physics APIs:

  • PhysX SceneAPI

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

sr12ia Robot

USD Path: Fanuc/sr12ia/sr12ia.usd#

Properties

Number of Joints

7

Number of Links

8

Number of DOFs

6

Physics APIs:

  • PhysX SceneAPI

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

sr3ia Robot

USD Path: Fanuc/sr3ia/sr3ia.usd#

Properties

Number of Joints

7

Number of Links

8

Number of DOFs

6

Physics APIs:

  • PhysX SceneAPI

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

m900ib280 Robot

USD Path: Fanuc/m900ib280/m900ib280.usd#

Properties

Number of Joints

7

Number of Links

8

Number of DOFs

6

Physics APIs:

  • PhysX SceneAPI

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: 3D Content Sharing Agreement

Note

Additional FANUC robot assets (84+ models) can be found in the Content Browser at IsaacSim/Robots/Fanuc.

Denso
CobottaPro900 Robot

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

License: 3D Content Sharing Agreement

CobottaPro1300 Robot

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

License: 3D Content Sharing Agreement

Comau
n-220-27 Robot

USD Path: comau/n-220-27/n-220-27.usd#

Properties

Number of Joints

7

Number of Links

8

Number of DOFs

6

Physics APIs:

  • PhysX SceneAPI

  • PhysX ArticulationAPI

  • PhysX JointAPI

OpenArm
openarm_unimanual Robot

USD Path: OpenArm/openarm_unimanual/openarm_unimanual.usd#

Properties

Number of Joints

11

Number of Links

12

Number of DOFs

11

Physics APIs:

  • PhysX JointAPI

  • PhysX ArticulationAPI

  • PhysX MimicJointAPI

License: Apache 2.0

openarm_bimanual Robot

USD Path: OpenArm/openarm_bimanual/openarm_bimanual.usd#

Properties

Number of Joints

22

Number of Links

23

Number of DOFs

22

Physics APIs:

  • PhysX JointAPI

  • PhysX ArticulationAPI

  • PhysX MimicJointAPI

License: Apache 2.0

XiaoPeng
PX5 Robot 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

License: 3D Content Sharing Agreement

PX5 Robot 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

License: 3D Content Sharing Agreement

X-Humanoid
Tien Kung Robot

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

License: 3D Content Sharing Agreement

Unitree
H1 Robot

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

License: BSD-3

G1_23dof Robot 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

License: BSD-3

G1_23dof Robot 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

License: BSD-3

G1 Robot

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

License: BSD-3

SanctuaryAI
Phoenix Robot

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

License: 3D Content Sharing Agreement

RobotEra
STAR1 Robot

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

License: 3D Content Sharing Agreement

Ihmcrobotics
Valkyrie Robot

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

License: Apache 2.0

FourierIntelligence
GR-1 Robot 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

License: 3D Content Sharing Agreement

GR-1 Robot 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

License: 3D Content Sharing Agreement

Agility
Digit Robot

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

License: 3D Content Sharing Agreement

Cassie Robot

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

License: 3D Content Sharing Agreement

Agibot
A2D Robot

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

License: 3D Content Sharing Agreement

1X
Neo Robot

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

License: 3D Content Sharing Agreement

BoosterRobotics
BoosterT1 Robot

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

License: Apache 2.0

Unitree
laikago Robot

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

License: BSD-3

aliengo Robot

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

License: BSD-3

Go2 Robot

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

License: BSD-3

Go1 Robot 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

License: BSD-3

Go1 Robot 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

License: BSD-3

B2 Robot

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

License: BSD-3

A1 Robot

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

License: BSD-3

IsaacSim
Ant Robot 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

License: MIT

Ant Robot 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

License: MIT

Ant Robot 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

License: MIT

BostonDynamics
spot Robot

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

License: 3D Content Sharing Agreement

ANYbotics
anymal_d Robot

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

License: BSD-3

anymal_c Robot

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

License: BSD-3

anymal_b Robot

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

License: BSD-3

DeepRobotics
X30 Robot

USD Path: DeepRobotics/X30/X30.usd#

Properties

Number of Joints

16

Number of Links

17

Number of DOFs

12

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: BSD-3

M20 Robot

USD Path: DeepRobotics/M20/M20.usd#

Properties

Number of Joints

16

Number of Links

17

Number of DOFs

16

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: BSD-3

Lite3 Robot

USD Path: DeepRobotics/Lite3/Lite3.usd#

Properties

Number of Joints

16

Number of Links

17

Number of DOFs

12

Physics APIs:

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: BSD-3

NVIDIA
Kaya Robot 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

License: NVIDIA

Kaya Robot 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

License: NVIDIA

Fraunhofer
O3dyn Robot 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

License: 3D Content Sharing Agreement

O3dyn Robot 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

License: 3D Content Sharing Agreement

O3dyn Robot 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

License: 3D Content Sharing Agreement

NASA
Ingenuity Robot

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

License: NASA/JPL-Caltech 3D Model Download

IsaacSim
Quadcopter Robot

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 Robot

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

License: MIT

NTNU
ARL-Robot-1 Robot

USD Path: NTNU/ARL-Robot-1/arl_robot_1.usd#

Properties

Number of Joints

4

Number of Links

5

Number of DOFs

4

Physics APIs:

  • PhysX SceneAPI

  • PhysX ArticulationAPI

  • PhysX JointAPI

License: BSD-3

IsaacSim
Vehicle Robot

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

License: NVIDIA

SimpleArticulation Robot 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

SimpleArticulation Robot 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

SimpleArticulation Robot 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 Robot

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 Robot 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

License: MIT

Humanoid Robot 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

License: MIT

DifferentialBase Robot

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 Robot

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 Robot

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 Robot

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

Clearpath
RidgebackUr Robot

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

License: BSD-3

RidgebackFranka Robot

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

License: BSD-3

BostonDynamics
spot Robot

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

License: 3D Content Sharing Agreement