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

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 Robot — `carter_v1.usd`#

Carter v1.

To create the robot: *Create>Isaac>Robots>Wheeled Robots>NVIDIA>Carter v1*

Nova Carter Robot — `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/

Clearpath Dingo — `Dingo/dingo.usd`#

Dingo.

To create the robot: *Create>Isaac>Robots>Wheeled Robots>Clearpath>Dingo*

Clearpath Jackal — `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.

Clearpath Ridgeback with Franka manipulator — `RidgebackFranka/ridgeback_franka.usd`#

Ridgeback Franka.

To create the robot: *Create>Isaac>Robots>Wheeled Robots>Clearpath>Ridgeback Franka*

Clearpath Ridgeback with UR5 manipulator — `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.

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 — `forklift_b.usd`#

Forklift B.

To create the robot: *Create>Isaac>Robots>Wheeled Robots>Forklift>Forklift B*

Forklift_c — `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/

JetBot - simplified model.

To create the robot: Create>Isaac>Robots>Wheeled Robots>NVIDIA>Jetbot (simplified)

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.

Smart Transport Robot — 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.

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.

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.

Boston Dynamics Spot

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

spot without arm — `spot.usd`#

Spot.

To create the robot: *Create>Isaac>Robots>Quadruped Robots>Boston Dynamics>Spot*

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.

Festo

The Festo Cobot is a 6-axis pneumatic manipulator.

Flexiv

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

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/

Base Franka.

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

Franka With Alternate Fingers.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Franka>Franka (alt. fingers)

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 Robot — `RS007L/rs007l_onrobot_rg2.usd`#

RS007L Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Kawasaki>RS007L

RS007N Robot — `RS007N/rs007n_onrobot_rg2.usd`#

RS007N Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Kawasaki>RS007N

RS013N Robot — `RS013N/rs013n_onrobot_rg2.usd`#

RS013N Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Kawasaki>RS013N

RS025N Robot — `RS025N/rs025n_onrobot_rg2.usd`#

RS025N Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Kawasaki>RS025N

RS080N Robot — `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/

Gen 3 robot — `Gen3/gen3n7_instanceable.usd`#

Gen 3 Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Kinova>Gen 3

J2N6S300 Robot — `Jaco2/J2N6S300/j2n6s300_instanceable.usd`#

J2N6S300 Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Kinova>J2N6S300

J2N7S300 Robot — `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.

KR210 Robot — 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.

Sawyer Robot — 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 Robot — `2F-140/2Robotiq_2F_140_physics_edit.usd`#

2F-140 Model.

To create the robot: Create>Isaac>End Effectors>Robotiq>2F-140

2F-85 Robot — `2F-85/Robotiq_2F_85_edit.usd`#

2F-85 Model.

To create the robot: Create>Isaac>End Effectors>Robotiq>2F-85

Hand-E Robot — `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.

TM12 Robot — 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 Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR3

UR3e Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR3e

UR5 Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR5

UR5e Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR5e

UR10 Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR10

UR10e Model.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR10e

UR16e Robot — `ur16e/ur16e.usd`#

UR16e Model.

To create the robot: *Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR16e*

UR20 Robot — `ur20/ur20.usd`#

UR20 Model.

To create the robot: *Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR20*

UR30 Robot — `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/

Base, No End Effector.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR10

Short Suction Gripper.

To create the robot: Create>Isaac>Robots>Manipulator Robots>Universal Robots>UR10 (short suction gripper)

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.

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.

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.