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.

Default

iRobot

Robot: Create3

iRobot/Create3/create_3.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

4

Number of Links

5

Number of DOFs

4

Physics APIs:

PhysX ArticulationAPI

Yasakawa Motoman

Robot: NEX10

Yasakawa Motoman/NEX10/NEX10.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

XiaoPeng

Robot: PX5

XiaoPeng/PX5/px5.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

16

Number of Links

17

Number of DOFs

16

XiaoPeng/PX5/px5_without_housing.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

16

Number of Links

17

Number of DOFs

16

Physics APIs:

PhysX ArticulationAPI

XHumanoid

Robot: Tien Kung

XHumanoid/Tien Kung/tienkung.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

59

Number of Links

60

Number of DOFs

54

WonikRobotics

Robot: AllegroHand

WonikRobotics/AllegroHand/allegro.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

20

Number of Links

21

Number of DOFs

16

Physics APIs:

PhysX ArticulationAPI

WonikRobotics/AllegroHand/allegro_hand.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

20

Number of Links

21

Number of DOFs

16

Physics APIs:

PhysX ArticulationAPI

WonikRobotics/AllegroHand/allegro_hand_instanceable.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

20

Number of Links

21

Number of DOFs

16

Physics APIs:

PhysX ArticulationAPI

This robot is in Isaac Lab

UniversalRobots

Robot: ur5e

UniversalRobots/ur5e/ur5e.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Robot: ur5

UniversalRobots/ur5/ur5.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Robot: ur3e

UniversalRobots/ur3e/ur3e.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Robot: ur30

UniversalRobots/ur30/ur30.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Robot: ur3

UniversalRobots/ur3/ur3.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Robot: ur20

UniversalRobots/ur20/ur20.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Robot: ur16e

UniversalRobots/ur16e/ur16e.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Robot: ur10e

UniversalRobots/ur10e/ur10e.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Accessories

Robotiq_2f_140

Robotiq_2f_85

Robot: ur10

UniversalRobots/ur10/ur10.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

7

Number of Links

8

Number of DOFs

6

Accessories

Long_Suction

Short_Suction

This robot appears in the following examples:

UR10 Palletizing

Unitree

Robot: laikago

Unitree/laikago/laikago.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

12

Number of Links

13

Number of DOFs

12

Robot: aliengo

Unitree/aliengo/aliengo.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

12

Number of Links

13

Number of DOFs

12

Robot: Go2

Unitree/Go2/go2.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

38

Number of Links

39

Number of DOFs

12

Robot: Go1

Unitree/Go1/go1.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

16

Number of Links

17

Number of DOFs

12

Unitree/Go1/go1_sensor.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

16

Number of Links

17

Number of DOFs

12

Sensor/Accessory

Count

Contact Sensor

4

Robot: B2

Unitree/B2/b2.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

30

Number of Links

31

Number of DOFs

12

Robot: A1

Unitree/A1/a1.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

12

Number of Links

13

Number of DOFs

12

Ufactory

Robot: xarm_gripper

Ufactory/xarm_gripper/xarm_gripper.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Robot: xarm7

Ufactory/xarm7/xarm7.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

14

Number of Links

15

Number of DOFs

13

Robot: xarm6

Ufactory/xarm6/xarm6.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

13

Number of Links

14

Number of DOFs

12

Robot: uf850

Ufactory/uf850/uf850.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Robot: lite6_gripper

Ufactory/lite6_gripper/uf_lite_gripper.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

2

Number of Links

3

Number of DOFs

2

Robot: lite6

Ufactory/lite6/lite6.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Turtlebot

Robot: Turtlebot3

Turtlebot/Turtlebot3/turtlebot3_burger.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

2

Number of Links

3

Number of DOFs

2

Physics APIs:

PhysX ArticulationAPI

Techman

Robot: TM12

Techman/TM12/tm12.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

9

Number of Links

10

Number of DOFs

6

Sensors

Count

Camera

1

Physics APIs:

PhysX ArticulationAPI

ShadowRobot

Robot: ShadowHand

ShadowRobot/ShadowHand/shadow_hand.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

25

Number of Links

26

Number of DOFs

24

Physics APIs:

PhysX ArticulationAPI

ShadowRobot/ShadowHand/shadow_hand_instanceable.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

25

Number of Links

26

Number of DOFs

24

Physics APIs:

PhysX ArticulationAPI

This robot is in Isaac Lab

SanctuaryAI

Robot: Phoenix

SanctuaryAI/Phoenix/phoenix.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

77

Number of Links

78

Number of DOFs

77

Physics APIs:

PhysX ArticulationAPI

Robotiq

Robot: Hand-E

Robotiq/Hand-E/Robotiq_Hand_E_config.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

2

Number of Links

3

Number of DOFs

2

Physics APIs:

PhysX ArticulationAPI

Robotiq/Hand-E/Robotiq_Hand_E_edit.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

2

Number of Links

3

Number of DOFs

2

Physics APIs:

PhysX ArticulationAPI

Robot: 2F-140

Robotiq/2F-140/Robotiq_2F_140_config.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

10

Number of Links

11

Number of DOFs

10

Sensor/Accessory

Count

Contact Sensor

1

Physics APIs:

PhysX ArticulationAPI

PhysX ResidualReportingAPI

Robotiq/2F-140/Robotiq_2F_140_physics_edit.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

8

Number of Links

9

Number of DOFs

8

Sensor/Accessory

Count

Contact Sensor

1

Physics APIs:

PhysX ArticulationAPI

RobotStudio

Robot: so101_new_calib

RobotStudio/so101_new_calib/so101_new_calib.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Robot: so100

RobotStudio/so100/so100.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

RobotEra

Robot: STAR1

RobotEra/STAR1/star1.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

55

Number of Links

56

Number of DOFs

55

RethinkRobotics

Robot: Sawyer

RethinkRobotics/Sawyer/sawyer_instanceable.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

12

Number of Links

13

Number of DOFs

8

Physics APIs:

PhysX ArticulationAPI

This robot is in Isaac Lab

NVIDIA

Robot: Robomaker

NVIDIA/Robomaker/aws_robomaker_jetbot.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

5

Number of Links

6

Number of DOFs

2

Physics APIs:

PhysX ArticulationAPI

Robot: Kaya

NVIDIA/Kaya/kaya.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

33

Number of Links

34

Number of DOFs

33

Physics APIs:

PhysX ArticulationAPI

This robot appears in the following examples:

Kaya Gamepad

Robo Party

Kaya URDF

Robot: Jetbot

NVIDIA/Jetbot/jetbot.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

2

Number of Links

3

Number of DOFs

2

Sensors

Count

Camera

2

Physics APIs:

PhysX ArticulationAPI

This robot appears in the following examples:

Robo Party

Robot: Carter

NVIDIA/Carter/carter_v1.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

4

Sensors

Count

Camera

5

Physics APIs:

PhysX ArticulationAPI

NVIDIA/Carter/carter_v1_physx_lidar.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

4

Sensors

Count

Camera

4

Physics APIs:

PhysX ArticulationAPI

This robot appears in the following examples:

Carter URDF

NASA

Robot: Ingenuity

NASA/Ingenuity/ingenuity.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

4

Number of Links

5

Number of DOFs

4

Physics APIs:

PhysX ArticulationAPI

Kuka

Robot: KR210_L150

Kuka/KR210_L150/kr210_l150.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

8

Number of Links

9

Number of DOFs

6

Physics APIs:

PhysX ArticulationAPI

Kinova

Robot: Gen3

Kinova/Gen3/gen3n7_instanceable.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

8

Number of Links

9

Number of DOFs

7

Physics APIs:

PhysX ArticulationAPI

Kawasaki

Robot: RS080N

Kawasaki/RS080N/rs080n_onrobot_rg2.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

15

Number of Links

16

Number of DOFs

12

Physics APIs:

PhysX ArticulationAPI

Robot: RS025N

Kawasaki/RS025N/rs025n_onrobot_rg2.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

15

Number of Links

16

Number of DOFs

12

Physics APIs:

PhysX ArticulationAPI

Robot: RS013N

Kawasaki/RS013N/rs013n_onrobot_rg2.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

15

Number of Links

16

Number of DOFs

12

Physics APIs:

PhysX ArticulationAPI

Robot: RS007N

Kawasaki/RS007N/rs007n_onrobot_rg2.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

15

Number of Links

16

Number of DOFs

12

Physics APIs:

PhysX ArticulationAPI

Robot: RS007L

Kawasaki/RS007L/rs007l_onrobot_rg2.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

15

Number of Links

16

Number of DOFs

12

Physics APIs:

PhysX ArticulationAPI

IsaacSim

Robot: SimpleArticulation

IsaacSim/SimpleArticulation/articulation_3_joints.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

3

Number of Links

4

Number of DOFs

3

Physics APIs:

PhysX ArticulationAPI

IsaacSim/SimpleArticulation/revolute_articulation.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

1

Number of Links

2

Number of DOFs

1

Physics APIs:

PhysX ArticulationAPI

IsaacSim/SimpleArticulation/simple_articulation.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

2

Number of Links

3

Number of DOFs

2

Physics APIs:

PhysX ArticulationAPI

Robot: Quadcopter

IsaacSim/Quadcopter/quadcopter.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

8

Number of Links

9

Number of DOFs

8

Physics APIs:

PhysX ArticulationAPI

Robot: Humanoid28

IsaacSim/Humanoid28/humanoid_28.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

14

Number of Links

15

Number of DOFs

12

Physics APIs:

PhysX ArticulationAPI

Robot: Humanoid

IsaacSim/Humanoid/humanoid.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

15

Number of Links

16

Number of DOFs

12

IsaacSim/Humanoid/humanoid_instanceable.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

15

Number of Links

16

Number of DOFs

12

This robot is in Isaac Lab

This robot appears in the following examples:

Humanoid

Robot: ForkliftC

IsaacSim/ForkliftC/forklift_c.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

7

Number of Links

8

Number of DOFs

7

Physics APIs:

PhysX ArticulationAPI

Robot: ForkliftB

IsaacSim/ForkliftB/forklift_b.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

7

Number of Links

8

Number of DOFs

7

Physics APIs:

PhysX ArticulationAPI

Robot: DifferentialBase

IsaacSim/DifferentialBase/differential_base.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

2

Number of Links

3

Number of DOFs

2

Physics APIs:

PhysX ArticulationAPI

Robot: Cartpole

IsaacSim/Cartpole/cartpole.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

2

Number of Links

3

Number of DOFs

2

Physics APIs:

PhysX ArticulationAPI

Robot: CartDoublePendulum

IsaacSim/CartDoublePendulum/cart_double_pendulum.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

3

Number of Links

4

Number of DOFs

3

Robot: BalanceBot

IsaacSim/BalanceBot/balance_bot.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Physics APIs:

PhysX ArticulationAPI

Robot: Ant

IsaacSim/Ant/ant.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

8

Number of Links

9

Number of DOFs

8

IsaacSim/Ant/ant_colored.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

N/A

Number of Links

N/A

Number of DOFs

N/A

IsaacSim/Ant/ant_instanceable.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

8

Number of Links

9

Number of DOFs

8

This robot is in Isaac Lab

Idealworks

Robot: iwhub

Idealworks/iwhub/iw_hub.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

7

Number of Links

8

Number of DOFs

7

Physics APIs:

PhysX ArticulationAPI

Fraunhofer

Robot: O3dyn

Fraunhofer/O3dyn/o3dyn.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

76

Number of Links

77

Number of DOFs

64

Physics APIs:

PhysX ArticulationAPI

Fraunhofer/O3dyn/o3dyn_trimmed.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

52

Number of Links

53

Number of DOFs

40

Physics APIs:

PhysX ArticulationAPI

Robot: Evobot

Fraunhofer/Evobot/evobot.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

14

Number of Links

15

Number of DOFs

12

FrankaRobotics

Robot: FrankaPanda

FrankaRobotics/FrankaPanda/franka.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

10

Number of Links

11

Number of DOFs

9

Accessories

AlternateFinger

Default

Physics APIs:

PhysX ArticulationAPI

This robot appears in the following examples:

Follow Target

Path Planning

Simple Stack

Replay Follow Target

Robo Party

Robo Factory

Franka URDF

Robot: FrankaFR3

FrankaRobotics/FrankaFR3/fr3.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

12

Number of Links

13

Number of DOFs

9

Physics APIs:

PhysX ArticulationAPI

Robot: FactoryFranka

FrankaRobotics/FactoryFranka/factory_franka.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

11

Number of Links

12

Number of DOFs

9

Physics APIs:

PhysX ArticulationAPI

FrankaRobotics/FactoryFranka/factory_franka_instanceable.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

11

Number of Links

12

Number of DOFs

9

Physics APIs:

PhysX ArticulationAPI

FourierIntelligence

Robot: GR-1

FourierIntelligence/GR-1/GR1T2_fourier_hand_6dof/GR1T2_fourier_hand_6dof.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

54

Number of Links

55

Number of DOFs

54

This robot is in Isaac Lab

FourierIntelligence/GR-1/GR1T1/GR1_T1.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

40

Number of Links

41

Number of DOFs

32

Flexiv

Robot: Rizon4

Flexiv/Rizon4/flexiv_rizon4.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

8

Number of Links

9

Number of DOFs

7

Physics APIs:

PhysX ArticulationAPI

Festo

Robot: FestoCobot

Festo/FestoCobot/festo_cobot.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

7

Number of Links

8

Number of DOFs

6

Physics APIs:

PhysX ArticulationAPI

Fanuc

Robot: CRX10IAL

Fanuc/CRX10IAL/crx10ial.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

9

Number of Links

10

Number of DOFs

6

Physics APIs:

PhysX ArticulationAPI

Denso

Robot: CobottaPro900

Denso/CobottaPro900/cobotta_pro_900.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

14

Number of Links

15

Number of DOFs

12

Physics APIs:

PhysX ArticulationAPI

Robot: CobottaPro1300

Denso/CobottaPro1300/cobotta_pro_1300.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

14

Number of Links

15

Number of DOFs

12

Physics APIs:

PhysX ArticulationAPI

Clearpath

Robot: RidgebackUr

Clearpath/RidgebackUr/ridgeback_ur5.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

9

Number of Links

10

Number of DOFs

9

Physics APIs:

PhysX ArticulationAPI

Robot: RidgebackFranka

Clearpath/RidgebackFranka/ridgeback_franka.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

18

Number of Links

19

Number of DOFs

12

Physics APIs:

PhysX ArticulationAPI

This robot is in Isaac Lab

Robot: Jackal

Clearpath/Jackal/jackal.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

4

Number of Links

5

Number of DOFs

4

Sensor/Accessory

Count

Camera

2

IMU

1

Physics APIs:

PhysX ArticulationAPI

Clearpath/Jackal/jackal_basic.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

4

Number of Links

5

Number of DOFs

4

Physics APIs:

PhysX ArticulationAPI

Robot: Dingo

Clearpath/Dingo/dingo.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

2

Number of Links

3

Number of DOFs

2

Sensors

Count

Camera

2

Physics APIs:

PhysX ArticulationAPI

Clearpath/Dingo/dingo_basic.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

2

Number of Links

3

Number of DOFs

2

Physics APIs:

PhysX ArticulationAPI

BostonDynamics

Robot: spot

BostonDynamics/spot/spot.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

16

Number of Links

17

Number of DOFs

12

Physics APIs:

PhysX ArticulationAPI

This robot is in Isaac Lab

BostonDynamics/spot/spot_with_arm.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

0

Number of Links

1

Number of DOFs

0

Bitcraze

Robot: Crazyflie

Bitcraze/Crazyflie/cf2x.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

4

Number of Links

5

Number of DOFs

4

Physics APIs:

PhysX ArticulationAPI

This robot is in Isaac Lab

Agility

Robot: Digit

Agility/Digit/digit_v4.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

42

Number of Links

43

Number of DOFs

38

Sensors

Count

Camera

4

This robot is in Isaac Lab

Robot: Cassie

Agility/Cassie/cassie.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

12

Number of Links

13

Number of DOFs

12

Agibot

Robot: A2D

Agibot/A2D/A2D.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

34

Number of Links

35

Number of DOFs

34

ANYbotics

Robot: anymal_d

ANYbotics/anymal_d/anymal_d.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

16

Number of Links

17

Number of DOFs

12

Robot: anymal_c

ANYbotics/anymal_c/anymal_c.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

17

Number of Links

18

Number of DOFs

12

Robot: anymal_b

ANYbotics/anymal_b/anymal_b.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

16

Number of Links

17

Number of DOFs

12

1X

Robot: Neo

1X/Neo/Neo.usd

Description

N/A

License

Other

Version

N/A

Source

N/A

Number of Joints

33

Number of Links

34

Number of DOFs

33

No Robot Schema Applied

Yahboom

Robot: Dofbot

Yahboom/Dofbot/dofbot.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

11

Number of Links

12

Number of DOFs

11

Sensors

Count

Camera

1

Physics APIs:

PhysX ArticulationAPI

Unitree

Robot: Z1

Unitree/Z1/z1.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

6

Number of Links

7

Number of DOFs

6

Robot: H1

Unitree/H1/h1.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

24

Number of Links

25

Number of DOFs

19

Physics APIs:

PhysX ArticulationAPI

This robot appears in the following examples:

Humanoid

Robot: G1

Unitree/G1/g1.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

43

Number of Links

44

Number of DOFs

43

Robot: Dex5

Unitree/Dex5/Dex5-URDF-R.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

20

Number of Links

21

Number of DOFs

20

Robot: Dex3

Unitree/Dex3/dex3_1_r.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

7

Number of Links

8

Number of DOFs

7

Robotiq

Robot: Hand-E

Robotiq/Hand-E/Robotiq_Hand_E_base.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

2

Number of Links

3

Number of DOFs

2

Physics APIs:

PhysX ArticulationAPI

Robot: 2F-85

Robotiq/2F-85/Robotiq_2F_85_edit.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

8

Number of Links

9

Number of DOFs

6

Robot: 2F-140

Robotiq/2F-140/2f140_instanceable.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

10

Number of Links

11

Number of DOFs

6

Physics APIs:

PhysX ArticulationAPI

Robotiq/2F-140/Robotiq_2F_140_base.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

8

Number of Links

9

Number of DOFs

8

Physics APIs:

PhysX ArticulationAPI

Robotiq/2F-140/Collected_2f140_instanceable/2f140_instanceable.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

10

Number of Links

11

Number of DOFs

6

Physics APIs:

PhysX ArticulationAPI

NVIDIA

Robot: NovaCarter

NVIDIA/NovaCarter/nova_carter.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

7

Number of Links

8

Number of DOFs

7

Sensor/Accessory

Count

Camera

12

IMU

5

OmniSensor Lidar

3

Robot: Leatherback

NVIDIA/Leatherback/leatherback.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

26

Number of Links

27

Number of DOFs

26

Sensors

Count

Camera

4

Physics APIs:

PhysX ArticulationAPI

Robot: Kaya

NVIDIA/Kaya/kaya_ogn_gamepad.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

33

Number of Links

34

Number of DOFs

33

This robot appears in the following examples:

Kaya Gamepad

Robo Party

Kaya URDF

Kinova

Robot: Jaco2

Kinova/Jaco2/J2N7S300/j2n7s300_instanceable.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

14

Number of Links

15

Number of DOFs

13

Physics APIs:

PhysX ArticulationAPI

Kinova/Jaco2/J2N6S300/j2n6s300_instanceable.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

13

Number of Links

14

Number of DOFs

12

Physics APIs:

PhysX ArticulationAPI

IsaacSim

Robot: Vehicle

IsaacSim/Vehicle/basic_vehicle_m.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

N/A

Number of Links

N/A

Number of DOFs

N/A

Robot: ForkliftB

IsaacSim/ForkliftB/forklift_b_sensor.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

7

Number of Links

8

Number of DOFs

7

Sensor/Accessory

Count

Camera

6

IMU

3

OmniSensor Lidar

1

Ihmcrobotics

Robot: Valkyrie

Ihmcrobotics/Valkyrie/valkyrie.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

25

Number of Links

26

Number of DOFs

25

Idealworks

Robot: iwhub

Idealworks/iwhub/iw_hub_sensors.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

8

Number of Links

9

Number of DOFs

7

Sensors

Count

Camera

2

Idealworks/iwhub/iw_hub_static.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

N/A

Number of Links

N/A

Number of DOFs

N/A

Fraunhofer

Robot: O3dyn

Fraunhofer/O3dyn/o3dyn_controller.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

76

Number of Links

77

Number of DOFs

64

AgilexRobotics

Robot: limo

AgilexRobotics/limo/limo.usd

Description

N/A

License

N/A

Version

N/A

Source

N/A

Number of Joints

4

Number of Links

5

Number of DOFs

4

Sensors

Count

Camera

1

Physics APIs:

PhysX ArticulationAPI

Description	N/A
License	Other
Version	N/A
Source	N/A
Number of Joints	4
Number of Links	5
Number of DOFs	4