Humanoid Robot Assets

Browse simulation-ready humanoid 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.

1asset

XiaoPeng

1 asset

Browse XiaoPeng humanoid robots and their available variants.

XiaoPeng, 1 asset, Browse XiaoPeng humanoid robots and their available variants.

1asset

X-Humanoid

1 asset

Browse X-Humanoid humanoid robots and their available variants.

X-Humanoid, 1 asset, Browse X-Humanoid humanoid robots and their available variants.

3assets

Unitree

3 assets

Browse Unitree humanoid robots and their available variants.

Unitree, 3 assets, Browse Unitree humanoid robots and their available variants.

1asset

SanctuaryAI

1 asset

Browse SanctuaryAI humanoid robots and their available variants.

SanctuaryAI, 1 asset, Browse SanctuaryAI humanoid robots and their available variants.

1asset

RobotEra

1 asset

Browse RobotEra humanoid robots and their available variants.

RobotEra, 1 asset, Browse RobotEra humanoid robots and their available variants.

1asset

Ihmcrobotics

1 asset

Browse Ihmcrobotics humanoid robots and their available variants.

Ihmcrobotics, 1 asset, Browse Ihmcrobotics humanoid robots and their available variants.

1asset

FourierIntelligence

1 asset

Browse FourierIntelligence humanoid robots and their available variants.

FourierIntelligence, 1 asset, Browse FourierIntelligence humanoid robots and their available variants.

2assets

Agility

2 assets

Browse Agility humanoid robots and their available variants.

Agility, 2 assets, Browse Agility humanoid robots and their available variants.

1asset

Agibot

1 asset

Browse Agibot humanoid robots and their available variants.

Agibot, 1 asset, Browse Agibot humanoid robots and their available variants.

1asset

1X

1 asset

Browse 1X humanoid robots and their available variants.

1X, 1 asset, Browse 1X humanoid robots and their available variants.

1asset

BoosterRobotics

1 asset

Browse BoosterRobotics humanoid robots and their available variants.

BoosterRobotics, 1 asset, Browse BoosterRobotics humanoid robots and their available variants.

XiaoPeng

XiaoPeng

PX5

Variant 1

USD Path:

XiaoPeng/PX5/px5.usd

Multiphysics USD Path:

XiaoPeng/PX5/px5.usda

Number of Joints	16
Number of Links	17
Number of DOFs	16

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: 3D Content Sharing Agreement

Variant 2

USD Path:

XiaoPeng/PX5/px5_without_housing.usd

Number of Joints	16
Number of Links	17
Number of DOFs	16

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

X-Humanoid

X-Humanoid

Tien Kung

Asset details

USD Path:

XHumanoid/Tien Kung/tienkung.usd

Multiphysics USD Path:

XHumanoid/Tien Kung/tienkung/tienkung.usda

Number of Joints	59
Number of Links	60
Number of DOFs	54

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

License: 3D Content Sharing Agreement

Unitree

Unitree

H1

Asset details

USD Path:

Unitree/H1/h1.usd

Multiphysics USD Path:

Unitree/H1/h1.usda

Number of Joints	24
Number of Links	25
Number of DOFs	19

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: BSD-3

G1_23dof

Variant 1

USD Path:

Unitree/G1_23dof/g1.usd

Multiphysics USD Path:

Unitree/G1_23dof/g1/g1.usda

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: BSD-3

Variant 2

USD Path:

Unitree/G1_23dof/g1_minimal.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: BSD-3

G1

Asset details

USD Path:

Unitree/G1/g1.usd

Multiphysics USD Path:

Unitree/G1/g1.usda

Number of Joints	45
Number of Links	46
Number of DOFs	43

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

SanctuaryAI

SanctuaryAI

Phoenix

Asset details

USD Path:

SanctuaryAI/Phoenix/phoenix.usd

Multiphysics USD Path:

SanctuaryAI/Phoenix/phoenix.usda

Number of Joints	77
Number of Links	78
Number of DOFs	77

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

RobotEra

RobotEra

STAR1

Asset details

USD Path:

RobotEra/STAR1/star1.usd

Multiphysics USD Path:

RobotEra/STAR1/star1.usda

Number of Joints	55
Number of Links	56
Number of DOFs	55

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: 3D Content Sharing Agreement

Ihmcrobotics

Ihmcrobotics

Valkyrie

Asset details

USD Path:

Ihmcrobotics/Valkyrie/valkyrie.usd

Multiphysics USD Path:

Ihmcrobotics/Valkyrie/valkyrie.usda

Number of Joints	25
Number of Links	26
Number of DOFs	25

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: Apache 2.0

FourierIntelligence

FourierIntelligence

GR-1

Variant 1

USD Path:

FourierIntelligence/GR-1/GR1T2_fourier_hand_6dof/GR1T2_fourier_hand_6dof.usd

Number of Joints	54
Number of Links	55
Number of DOFs	54

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX SceneAPI

• PhysX ArticulationAPI

• This robot is in Isaac Lab

License: 3D Content Sharing Agreement

Variant 2

USD Path:

FourierIntelligence/GR-1/GR1T1/GR1_T1.usd

Number of Joints	40
Number of Links	41
Number of DOFs	32

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

Agility

Agility

Digit

Asset details

USD Path:

Agility/Digit/digit_v4.usd

Multiphysics USD Path:

Agility/Digit/digit_v4/digit_v4.usda

Number of Joints	42
Number of Links	43
Number of DOFs	38

Sensors	Count
Camera	4

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX CollisionAPI

• PhysX ArticulationAPI

• This robot is in Isaac Lab

License: 3D Content Sharing Agreement

Cassie

Asset details

USD Path:

Agility/Cassie/cassie.usd

Multiphysics USD Path:

Agility/Cassie/cassie.usda

Number of Joints	14
Number of Links	15
Number of DOFs	14

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

License: 3D Content Sharing Agreement

Agibot

Agibot

A2D

Asset details

USD Path:

Agibot/A2D/A2D.usd

Multiphysics USD Path:

Agibot/A2D/A2D.usda

Number of Joints	34
Number of Links	35
Number of DOFs	34

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX ArticulationAPI

License: 3D Content Sharing Agreement

1X

1X

Neo

Asset details

USD Path:

1X/Neo/Neo.usd

Multiphysics USD Path:

1X/Neo/Neo.usda

Number of Joints	33
Number of Links	34
Number of DOFs	33

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX ArticulationAPI

License: 3D Content Sharing Agreement

BoosterRobotics

BoosterRobotics

BoosterT1

Asset details

USD Path:

BoosterRobotics/BoosterT1/T1_locomotion.usd

Multiphysics USD Path:

BoosterRobotics/BoosterT1/T1_locomotion/T1_locomotion.usda

Number of Joints	23
Number of Links	24
Number of DOFs	23

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: Apache 2.0