Isaac Sim Simple Robot Assets

Browse simulation-ready simplified Isaac Sim reference 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.

8assets

IsaacSim

8 assets

Browse IsaacSim simplified Isaac Sim reference robots and their available variants.

IsaacSim, 8 assets, Browse IsaacSim simplified Isaac Sim reference robots and their available variants.

IsaacSim

IsaacSim

Vehicle

Asset details

USD Path:

IsaacSim/Vehicle/basic_vehicle_m.usd

Multiphysics USD Path:

IsaacSim/Vehicle/basic_vehicle_m/basic_vehicle_m.usda

Number of Joints	N/A
Number of Links	N/A
Number of DOFs	N/A

Physics APIs:

• PhysX RigidBodyAPI

• PhysX CollisionAPI

• PhysX SceneAPI

License: NVIDIA

SimpleArticulation

Variant 1

USD Path:

IsaacSim/SimpleArticulation/articulation_3_joints.usd

Multiphysics USD Path:

IsaacSim/SimpleArticulation/articulation_3_joints/articulation_3_joints.usda

Number of Joints	3
Number of Links	4
Number of DOFs	3

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX CollisionAPI

Variant 2

USD Path:

IsaacSim/SimpleArticulation/revolute_articulation.usd

Number of Joints	1
Number of Links	2
Number of DOFs	1

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX CollisionAPI

Variant 3

USD Path:

IsaacSim/SimpleArticulation/simple_articulation.usd

Number of Joints	2
Number of Links	3
Number of DOFs	2

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX CollisionAPI

Humanoid28

Asset details

USD Path:

IsaacSim/Humanoid28/humanoid_28.usd

Multiphysics USD Path:

IsaacSim/Humanoid28/humanoid_28/humanoid_28.usda

Number of Joints	14
Number of Links	15
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Humanoid

Variant 1

USD Path:

IsaacSim/Humanoid/humanoid.usd

Multiphysics USD Path:

IsaacSim/Humanoid/humanoid.usda

Number of Joints	15
Number of Links	16
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: MIT

Variant 2

USD Path:

IsaacSim/Humanoid/humanoid_instanceable.usd

Number of Joints	15
Number of Links	16
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

License: MIT

DifferentialBase

Asset details

USD Path:

IsaacSim/DifferentialBase/differential_base.usd

Multiphysics USD Path:

IsaacSim/DifferentialBase/differential_base/differential_base.usda

Number of Joints	2
Number of Links	3
Number of DOFs	2

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

Cartpole

Asset details

USD Path:

IsaacSim/Cartpole/cartpole.usd

Multiphysics USD Path:

IsaacSim/Cartpole/cartpole.usda

Number of Joints	2
Number of Links	3
Number of DOFs	2

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

CartDoublePendulum

Asset details

USD Path:

IsaacSim/CartDoublePendulum/cart_double_pendulum.usd

Multiphysics USD Path:

IsaacSim/CartDoublePendulum/cart_double_pendulum/cart_double_pendulum.usda

Number of Joints	3
Number of Links	4
Number of DOFs	3

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

BalanceBot

Asset details

USD Path:

IsaacSim/BalanceBot/balance_bot.usd

Multiphysics USD Path:

IsaacSim/BalanceBot/balance_bot/balance_bot.usda

Number of Joints	6
Number of Links	7
Number of DOFs	6

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI