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Isaac Sim Assets#

The Content Browser provides the assets and supporting files included with Isaac Sim, including URDF files, configuration files, and policy binaries. Open Window > Browsers > Content to browse the installed catalog.

Use SimReady Explorer to browse simulation-ready assets and inspect their metadata.

Download the sample content with the Latest Release, then store it on a local disk or Nucleus server. Unless noted otherwise, every path in this catalog is relative to the asset root in the persistent.isaac.asset_root.default setting. See Local asset packs.

Note

This catalog reflects the default Asset Region Profile. Other Asset Region Profiles might not provide every asset or dependency listed here. See Asset Region Profiles for profile selection and availability information.

Note

The first load can take longer while Isaac Sim caches asset dependencies. Robots can take several minutes to load, and large environments can take ten minutes or more.

Browse the catalog#

Robot Assets

240+ robot configs

Compare robots by form factor, manufacturer, USD path, physics APIs, sensors, and license.

Robot Assets, More than 240 robot configurations, Compare robots by form factor, manufacturer, USD path, physics APIs, sensors, and license.

Sensor Assets

57 models

Browse camera, depth, lidar, radar, tactile, and IMU sensor models with specifications.

Sensor Assets, 57 sensor models, Browse camera, depth, lidar, radar, tactile, and IMU sensor models with specifications.

Prop Assets

5 featured assets

Find characters and visual markers for populating robotics scenes and workflows.

Prop Assets, 5 featured prop assets, Find characters and visual markers for populating robotics scenes and workflows.

Environment Assets

12 environments

Choose grid rooms, warehouses, hospitals, offices, tracks, and digital-twin scenes.

Environment Assets, 12 environments, Choose grid rooms, warehouses, hospitals, offices, tracks, and digital-twin scenes.

Third-Party USD Assets

8 catalogs

Discover compatible USD catalogs, articulated-object datasets, and scene libraries.

Third-Party USD Assets, 8 catalogs, Discover compatible USD catalogs, articulated-object datasets, and scene libraries.

Real-to-Sim Assets

3 resources

Turn captured objects and scenes into USD assets with reconstruction and NuRec workflows.

Real-to-Sim Assets, 3 resources, Turn captured objects and scenes into USD assets with reconstruction and NuRec workflows.

Asset Utilities

5 resources

Learn OpenUSD foundations, manage USD paths and variants, and build warehouse and conveyor assets.

Asset Utilities, 5 resources, Learn OpenUSD foundations, manage USD paths and variants, and build warehouse and conveyor assets.

Content Agents#

Content Agents are AI-powered agents that automate 3D content workflows using Vision-Language Models (VLMs). They analyze 3D assets and automate material assignment, physics property classification, and texture generation for USD files, so that imported assets behave correctly in simulation. See the Content Agents GitHub repository for the latest tools and updates.

Monitor asset loading#

The Omniverse Activity UI shows progress while assets load.

Enable the omni.activity.ui extension in Window > Extensions, or launch Isaac Sim with --enable omni.activity.ui. Before you load a USD asset, open Window > Utilities > Activity Progress to monitor its dependencies.