Holonomic Robot Assets#
Browse simulation-ready holonomic mobile robots by manufacturer.
Every USD Path is relative to Isaac Sim/Robots. Multiphysics paths are relative to
Isaac Sim/Robots_Multiphysics. See Multiphysics Robots for details.
Browse NVIDIA holonomic mobile robots and their available variants.
Browse Fraunhofer holonomic mobile robots and their available variants.
NVIDIA#
Variant 1
USD Path:
NVIDIA/Kaya/kaya.usd
Multiphysics USD Path:
NVIDIA/Kaya/kaya.usda
Number of Joints |
33 |
Number of Links |
34 |
Number of DOFs |
33 |
Physics APIs:
PhysX SceneAPI
PhysX ArticulationAPI
PhysX JointAPI
PhysX CollisionAPI
License: NVIDIA
Variant 2
USD Path:#
NVIDIA/Kaya/kaya_ogn_gamepad.usd
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#
Variant 1
USD Path:
Fraunhofer/O3dyn/o3dyn.usd
Multiphysics USD Path: 
Fraunhofer/O3dyn/o3dyn.usda
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
Variant 2
USD Path:#
Fraunhofer/O3dyn/o3dyn_controller.usd
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
Variant 3
USD Path:#
Fraunhofer/O3dyn/o3dyn_trimmed.usd
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