Robot Assets

Omniverse 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 omniverse://localhost/NVIDIA/Assets/Isaac/4.2, which is referred to as [Isaac Sim Assets Path] below.

Wheeled Robots

Limo

Omniverse Isaac Sim supports the AgileX Limo robot with differential drive base with ROS integration.

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/AgilexRobotics/limo/limo.usd

limo.usd

Limo.

To create the robot: Create>Isaac>Robots>Wheeled Robots>AgilexRobotics>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.

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Carter/

carter_v1.usd Carter v1. To create the robot: Create>Isaac>Robots>Wheeled Robots>NVIDIA>Carter v1

nova_carter.usd Nova Carter. To create the robot: Create>Isaac>Robots>Wheeled Robots>NVIDIA>Nova Carter

Clearpath

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

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Clearpath/

Dingo/dingo.usd Dingo. To create the robot: Create>Isaac>Robots>Wheeled Robots>Clearpath>Dingo

Jackal/jackal.usd Jackal. To create the robot: Create>Isaac>Robots>Wheeled Robots>Clearpath>Jackal

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.

RidgebackFranka/ridgeback_franka.usd Ridgeback Franka. To create the robot: Create>Isaac>Robots>Wheeled Robots>Clearpath>Ridgeback Franka

RidgebackUr/ridgeback_ur5.usd RidgebackUr. To create the robot: Create>Isaac>Robots>Wheeled Robots>Clearpath>RidgebackUr

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.

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Evobot/EvoBot.usd

Evobot.

To create the robot: Create>Isaac>Robots>Wheeled Robots>Fraunhofer>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.

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Forklift/

forklift_b.usd Forklift B. To create the robot: Create>Isaac>Robots>Wheeled Robots>Forklift>Forklift B

forklift_c.usd Forklift C. To create the robot: Create>Isaac>Robots>Wheeled Robots>Forklift>Forklift C

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 Sim Assets Path]/Isaac/Robots/Jetbot/

aws_robomaker_jetbot.usd JetBot - simplified model. To create the robot: Create>Isaac>Robots>Wheeled Robots>NVIDIA>Jetbot (simplified)

jetbot.usd JetBot - high-resolution model imported from CAD. To create the robot: Create>Isaac>Robots>Wheeled Robots>NVIDIA>Jetbot

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.

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Idealworks/ Idealworks iw.hub.

• iw_hub.usd - Base Version. Has mobile base physics rigged. To create the robot: Create>Isaac>Robots>Wheeled Robots>Idealworks>Idealworks iw.hub

• iw_hub_sensors.usd - Base Version plus sensors API (Lidar, First and third person navigation camera). To create the robot: Create>Isaac>Robots>Wheeled Robots>Idealworks>Idealworks iw.hub (with sensors)

• iw_hub_static.usd - Static model with no physics rigged. To create the robot: Create>Isaac>Robots>Wheeled Robots>Idealworks>Idealworks iw.hub (static)

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 Sim Assets Path]/Isaac/Robots/Create3/ iRobot Create 3. To create the robot: Create>Isaac>Robots>Wheeled Robots>iRobot>Create3

• 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.

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/Leatherback/leatherback.usd Leatherback. To create the robot: Create>Isaac>Robots>Wheeled Robots>NVIDIA>Leatherback

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	.21

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.

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/Kaya/

NVIDIA Kaya.

• kaya.usd - Base Version. To create the robot: Create>Isaac>Robots>Holonomic Robots>NVIDIA>Kaya

• kaya_ogn_gamepad.usd - Base Version plus rigged gamepad control using the holonomic controller. To create the robot: Create>Isaac>Robots>Holonomic Robots>NVIDIA>Kaya (gamepad control)

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: [Isaac Sim Assets Path]/Isaac/Robots/O3dyn/

Fraunhofer O3dyn.

• o3dyn.usd - Base Version. Has mobile base, grippers and lift physics rigged, sensors positioning. To create the robot: Create>Isaac>Robots>Holonomic Robots>Fraunhofer>O3dyn

• o3dyn_controller.usd - Base Version plus rigged gamepad control using the holonomic controller. To create the robot: Create>Isaac>Robots>Holonomic Robots>Fraunhofer>O3dyn (gamepad control)

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.

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/Ant/

Ant.

• ant.usd - Base version. Not included in Create menu.

• ant_instanceable.usd - Instanceable version configured to create multiple efficient clones for RL scenarios. To create the robot: Create>Isaac>Robots>Quadruped Robots>Ant

ANYbotics ANYmal

The ANYmal robot is an autonomous quadruped robot developed by ANYbotics.

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/ANYbotics/anymal_c.usd:

ANYbotics ANYmal.

To create the robot: Create>Isaac>Robots>Quadruped Robots>ANYbotics ANYmal

Boston Dynamics Spot

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/BostonDynamics/spot

spot.usd Spot. To create the robot: Create>Isaac>Robots>Quadruped Robots>Boston Dynamics>Spot

spot_with_arm.usd Spot (with arm). To create the robot: Create>Isaac>Robots>Quadruped Robots>Boston Dynamics>Spot (with arm)

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 Sim Assets Path]/Isaac/Robots/Unitree/

A1/a1.usd Unitree A1. To create the robot: Create>Isaac>Robots>Quadruped Robots>Unitree>A1	B2/B2.usd Unitree B2. To create the robot: Create>Isaac>Robots>Quadruped Robots>Unitree>B2
Go1/go1.usd Unitree Go1. To create the robot: Create>Isaac>Robots>Quadruped Robots>Unitree>Go1	Go2/go2.usd Unitree Go2. To create the robot: Create>Isaac>Robots>Quadruped Robots>Unitree>Go2

Note

To see examples controlling quadruped robots: Quadruped Extension

Manipulator Robots

Denso Cobotta

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

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Denso/

/cobotta_pro_900.usd Cobotta Pro 900. To create the robot: Create>Isaac>Robots>Manipulator Robots>Denso>Cobotta Pro 900

/cobotta_pro_1300.usd Cobotta Pro 1300. To create the robot: Create>Isaac>Robots>Manipulator Robots>Denso>Cobotta Pro 1300

Fanuc

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

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/Fanuc/crx10ial.usd

Fanuc CRX10iA/L.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Fanuc CRX10IAL

Festo

The Festo Cobot is a 6-axis pneumatic manipulator.

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/Festo/festo_cobot.usd

Festo Cobot.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Festo Cobot

Flexiv

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

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/Flexiv/Rizon4/flexiv_rizon4.usd

Flexiv Rizon 4.

To create the robot: Create>Isaac>Robots>Manipulator Robots>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.

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Franka/

franka.usd Base Franka. To create the robot: Create>Isaac>Robots>Manipulator Robots>Franka>Franka

franka_alt_fingers.usd Franka With Alternate Fingers. To create the robot: Create>Isaac>Robots>Manipulator Robots>Franka>Franka (alt. fingers)

FR3/fr3.usd Franka FR3. To create the robot: Create>Isaac>Robots>Manipulator Robots>Franka>FR3

Kawasaki

Our library has following Kawasaki Robot models: RS007L, RS007N, RS013N, RS025N, RS080N.

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Kawasaki/

RS007L/rs007l_onrobot_rg2.usd RS007L Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Kawasaki>RS007L	RS007N/rs007n_onrobot_rg2.usd RS007N Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Kawasaki>RS007N
RS013N/rs013n_onrobot_rg2.usd RS013N Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Kawasaki>RS013N	RS025N/rs025n_onrobot_rg2.usd RS025N Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Kawasaki>RS025N

RS080N/rs080n_onrobot_rg2.usd

RS080N Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Kawasaki>RS080N

Kinova

Our library has the following Kinova Robot models: Gen 3, Jaco 2 J2N6300, and Jaco 2 J2N7S300.

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Kinova/

Gen3/gen3n7_instanceable.usd Gen 3 Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Kinova>Gen 3

Jaco2/J2N6S300/j2n6s300_instanceable.usd J2N6S300 Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Kinova>J2N6S300

Jaco2/J2N7S300/j2n7s300_instanceable.usd J2N7S300 Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Kinova>J2N7S300

Kuka

Our library has the following Kuka model: KR210 L150.

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Kuka/KR210_L150/kr210_l150.usd

KR210 L150.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Kuka KR210 L150

Rethink Robotics

Our library has the following Rethink Robotics model: Sawyer.

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/RethinkRobotics/sawyer_instanceable.usd

To create the robot: Create>Isaac>Robots>Manipulator Robots>Rethink Robotics Sawyer

Robotiq

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

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Robotiq

2F-140/2Robotiq_2F_140_physics_edit.usd 2F-140 Model. To create the robot: Create>Isaac>End Effectors>Robotiq>2F-140

2F-85/Robotiq_2F_85_edit.usd 2F-85 Model. To create the robot: Create>Isaac>End Effectors>Robotiq>2F-85

Hand-E/Robotiq_Hand_E_base.usd Hand-E Model. To create the robot: Create>Isaac>End Effectors>Robotiq>Hand-E

Techman

Our library has the following Techman Robot model: TM12.

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Techman/TM12/tm12.usd

TM12.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Techman TM12

Universal Robots

Omniverse Isaac Sim supports the following Universal Robots models: UR3/3e, UR5/5e, UR10/10e, UR16e, UR20, and UR30.

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/UniversalRobots/

ur3/ur3.usd UR3 Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR3	ur3e/ur3e.usd UR3e Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR3e
ur5/ur5.usd UR5 Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR5	ur5e/ur5e.usd UR5e Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR5e
ur10/ur10.usd UR10 Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR10	ur10e/ur10e.usd UR10e Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR10e

ur16e/ur16e.usd UR16e Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR16e

ur20/ur20.usd UR20 Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR20

ur30/ur30.usd UR30 Model. To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR30

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 Sim Assets Path]/Isaac/Robots/UR10/

ur10.usd Base, No End Effector. To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR10

ur10_short_suction.usd Short Suction Gripper. To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR10 (short suction gripper)

ur10_long_suction.usd Long Suction Gripper. To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR10 (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.

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/ShadowHand/

• shadow_hand.usd - Base Version. Not included in Create menu.

• shadow_hand_instanceable.usd - Base version set up to create multiple efficient clones for RL scenarios. To create the robot: Create>Isaac>End Effectors>Shadow Hand

Wonik Robotics: Allegro Hand

The Allegro robotic hand developed by Wonik Robotics features 16 torque-controlled joints represented by Revolute Joints in Omniverse Isaac Sim.

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/AllegroHand/

• allegro_hand.usd - Base Version. Not included in Create menu.

• allegro_hand_instanceable.usd - Base version set up to create multiple efficient clones for RL scenarios. To create the robot: Create>Isaac>End Effectors>Allegro Hand

Aerial Robots

Crazyflie

The Crazyflie 2.X micro quadcopter robot.

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/Crazyflie/cf2x.usd

To create the robot: Create>Isaac>Robots>Aerial Robots>Crazyflie 2.x

Ingenuity

The Mars Helicopter, Ingenuity.

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/Ingenuity/ingenuity.usd

To create the robot: Create>Isaac>Robots>Aerial Robots>Ingenuity

Quadcopter

Generic quadcopter robot.

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/Quadcopter/quadcopter.usd

To create the robot: Create>Isaac>Robots>Aerial Robots>Quadcopter

Humanoid Robots

1X NEO

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/1X/Neo/neo.usd

To create the robot: Create>Isaac>Robots>Humanoid Robots>1X>NEO

Agility Digit

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/Agility/Digit/digit_v4.usd

To create the robot: Create>Isaac>Robots>Humanoid Robots>Agility>Digit

Fourier Intelligence GR1

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/FourierIntelligence/GR-1/

GR1_T1.usd To create the robot: Create>Isaac>Robots>Humanoid Robots>Fourier Intelligence>GR1 T1

GR1_T2.usd To create the robot: Create>Isaac>Robots>Humanoid Robots>Fourier Intelligence>GR1 T2

Sanctuary AI Phoenix

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/SanctuaryAI/Phoenix/phoenix.usd

To create the robot: Create>Isaac>Robots>Humanoid Robots>Sanctuary AI>Phoenix

Unitree Humanoids

Assets Path: [Isaac Sim Assets Path]/Isaac/Robots/Unitree/

G1/g1.usd To create the robot: Create>Isaac>Robots>Humanoid Robots>Unitree>G1

H1/h1.usd To create the robot: Create>Isaac>Robots>Humanoid Robots>Unitree>H1

Xiao Peng PX5

Asset Path: [Isaac Sim Assets Path]/Isaac/Robots/XiaoPeng/PX5/

px5.usd To create the robot: Create>Isaac>Robots>Humanoid Robots>Xiao Peng>PX5

px5_without_housing.usd To create the robot: Create>Isaac>Robots>Humanoid Robots>Xiao Peng>PX5 (without housing)