Manipulator Robot Assets

Browse simulation-ready manipulators, hands, and grippers 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

Yaskawa

1 asset

Browse Yaskawa manipulators, hands, and grippers and their available variants.

Yaskawa, 1 asset, Browse Yaskawa manipulators, hands, and grippers and their available variants.

1asset

Yahboom

1 asset

Browse Yahboom manipulators, hands, and grippers and their available variants.

Yahboom, 1 asset, Browse Yahboom manipulators, hands, and grippers and their available variants.

1asset

WonikRobotics

1 asset

Browse WonikRobotics manipulators, hands, and grippers and their available variants.

WonikRobotics, 1 asset, Browse WonikRobotics manipulators, hands, and grippers and their available variants.

9assets

UniversalRobots

9 assets

Browse UniversalRobots manipulators, hands, and grippers and their available variants.

UniversalRobots, 9 assets, Browse UniversalRobots manipulators, hands, and grippers and their available variants.

3assets

Unitree

3 assets

Browse Unitree manipulators, hands, and grippers and their available variants.

Unitree, 3 assets, Browse Unitree manipulators, hands, and grippers and their available variants.

6assets

Ufactory

6 assets

Browse Ufactory manipulators, hands, and grippers and their available variants.

Ufactory, 6 assets, Browse Ufactory manipulators, hands, and grippers and their available variants.

1asset

Techman

1 asset

Browse Techman manipulators, hands, and grippers and their available variants.

Techman, 1 asset, Browse Techman manipulators, hands, and grippers and their available variants.

1asset

ShadowRobot

1 asset

Browse ShadowRobot manipulators, hands, and grippers and their available variants.

ShadowRobot, 1 asset, Browse ShadowRobot manipulators, hands, and grippers and their available variants.

3assets

Robotiq

3 assets

Browse Robotiq manipulators, hands, and grippers and their available variants.

Robotiq, 3 assets, Browse Robotiq manipulators, hands, and grippers and their available variants.

4assets

Psyonic

4 assets

Browse Psyonic manipulators, hands, and grippers and their available variants.

Psyonic, 4 assets, Browse Psyonic manipulators, hands, and grippers and their available variants.

5assets

Schunk

5 assets

Browse Schunk manipulators, hands, and grippers and their available variants.

Schunk, 5 assets, Browse Schunk manipulators, hands, and grippers and their available variants.

2assets

RobotStudio

2 assets

Browse RobotStudio manipulators, hands, and grippers and their available variants.

RobotStudio, 2 assets, Browse RobotStudio manipulators, hands, and grippers and their available variants.

1asset

RethinkRobotics

1 asset

Browse RethinkRobotics manipulators, hands, and grippers and their available variants.

RethinkRobotics, 1 asset, Browse RethinkRobotics manipulators, hands, and grippers and their available variants.

1asset

Kuka

1 asset

Browse Kuka manipulators, hands, and grippers and their available variants.

Kuka, 1 asset, Browse Kuka manipulators, hands, and grippers and their available variants.

2assets

Kinova

2 assets

Browse Kinova manipulators, hands, and grippers and their available variants.

Kinova, 2 assets, Browse Kinova manipulators, hands, and grippers and their available variants.

5assets

Kawasaki

5 assets

Browse Kawasaki manipulators, hands, and grippers and their available variants.

Kawasaki, 5 assets, Browse Kawasaki manipulators, hands, and grippers and their available variants.

4assets

FrankaRobotics

4 assets

Browse FrankaRobotics manipulators, hands, and grippers and their available variants.

FrankaRobotics, 4 assets, Browse FrankaRobotics manipulators, hands, and grippers and their available variants.

1asset

Flexiv

1 asset

Browse Flexiv manipulators, hands, and grippers and their available variants.

Flexiv, 1 asset, Browse Flexiv manipulators, hands, and grippers and their available variants.

11assets

Fanuc

11 assets

Browse Fanuc manipulators, hands, and grippers and their available variants.

Fanuc, 11 assets, Browse Fanuc manipulators, hands, and grippers and their available variants.

2assets

Denso

2 assets

Browse Denso manipulators, hands, and grippers and their available variants.

Denso, 2 assets, Browse Denso manipulators, hands, and grippers and their available variants.

1asset

Comau

1 asset

Browse Comau manipulators, hands, and grippers and their available variants.

Comau, 1 asset, Browse Comau manipulators, hands, and grippers and their available variants.

2assets

Addverb

2 assets

Browse Addverb manipulators, hands, and grippers and their available variants.

Addverb, 2 assets, Browse Addverb manipulators, hands, and grippers and their available variants.

1asset

Mecademic

1 asset

Browse Mecademic manipulators, hands, and grippers and their available variants.

Mecademic, 1 asset, Browse Mecademic manipulators, hands, and grippers and their available variants.

2assets

OpenArm

2 assets

Browse OpenArm manipulators, hands, and grippers and their available variants.

OpenArm, 2 assets, Browse OpenArm manipulators, hands, and grippers and their available variants.

1asset

I2RT

1 asset

Browse I2RT manipulators, hands, and grippers and their available variants.

I2RT, 1 asset, Browse I2RT manipulators, hands, and grippers and their available variants.

Yaskawa

Yaskawa

Motoman Next

NHC12

USD Path:

Yaskawa/Motoman Next/NHC12/NHC12_A00.usd

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

NEX7

USD Path:

Yaskawa/Motoman Next/NEX7/NEX7_C00_c00.usd

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

NEX4

USD Path:

Yaskawa/Motoman Next/NEX4/NEX4_C00.usd

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

NEX35

USD Path:

Yaskawa/Motoman Next/NEX35/NEX35_C00.usd

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

NEX20

USD Path:

Yaskawa/Motoman Next/NEX20/NEX20_C00.usd

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

NEX10

USD Path:

Yaskawa/Motoman Next/NEX10/NEX10_C00.usd

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

Yahboom

Yahboom

Dofbot

Asset details

USD Path:

Yahboom/Dofbot/dofbot.usd

Multiphysics USD Path:

Yahboom/Dofbot/dofbot.usda

Number of Joints	11
Number of Links	12
Number of DOFs	11

Sensors	Count
Camera	1

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

• PhysX SceneAPI

License: Email confirmation: Yahboom Technology

WonikRobotics

WonikRobotics

AllegroHand

Variant 1

USD Path:

WonikRobotics/AllegroHand/allegro.usd

Multiphysics USD Path:

WonikRobotics/AllegroHand/allegro/allegro.usda

Number of Joints	20
Number of Links	21
Number of DOFs	16

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: BSD-2

Variant 2

USD Path:

WonikRobotics/AllegroHand/allegro_hand.usd

Number of Joints	20
Number of Links	21
Number of DOFs	16

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

License: BSD-2

Variant 3

USD Path:

WonikRobotics/AllegroHand/allegro_hand_instanceable.usd

Number of Joints	20
Number of Links	21
Number of DOFs	16

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

License: BSD-2

UniversalRobots

UniversalRobots

ur5e

Asset details

USD Path:

UniversalRobots/ur5e/ur5e.usd

Multiphysics USD Path:

UniversalRobots/ur5e/ur5e.usda

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

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

ur5

Asset details

USD Path:

UniversalRobots/ur5/ur5.usd

Multiphysics USD Path:

UniversalRobots/ur5/ur5.usda

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

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

ur3e

Asset details

USD Path:

UniversalRobots/ur3e/ur3e.usd

Multiphysics USD Path:

UniversalRobots/ur3e/ur3e.usda

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

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

ur30

Asset details

USD Path:

UniversalRobots/ur30/ur30.usd

Multiphysics USD Path:

UniversalRobots/ur30/ur30.usda

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

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

ur3

Asset details

USD Path:

UniversalRobots/ur3/ur3.usd

Multiphysics USD Path:

UniversalRobots/ur3/ur3.usda

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

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

ur20

Asset details

USD Path:

UniversalRobots/ur20/ur20.usd

Multiphysics USD Path:

UniversalRobots/ur20/ur20.usda

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

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

ur16e

Asset details

USD Path:

UniversalRobots/ur16e/ur16e.usd

Multiphysics USD Path:

UniversalRobots/ur16e/ur16e.usda

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

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

ur10e

Asset details

USD Path:

UniversalRobots/ur10e/ur10e.usd

Multiphysics USD Path:

UniversalRobots/ur10e/ur10e.usda

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

Accessories:

• Robotiq_2f_140

• Robotiq_2f_85

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

ur10

Asset details

USD Path:

UniversalRobots/ur10/ur10.usd

Multiphysics USD Path:

UniversalRobots/ur10/ur10.usda

Number of Joints	7
Number of Links	8
Number of DOFs	6

Accessories:

• long_suction

• short_suction

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

Unitree

Unitree

Z1

Asset details

USD Path:

Unitree/Z1/z1.usd

Multiphysics USD Path:

Unitree/Z1/z1.usda

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: BSD-3

Dex5

Asset details

USD Path:

Unitree/Dex5/Dex5-URDF-R.usda

Multiphysics USD Path:

Unitree/Dex5/Dex5-URDF-R/Dex5-URDF-R.usda

Number of Joints	20
Number of Links	21
Number of DOFs	20

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

Dex3

Asset details

USD Path:

Unitree/Dex3/dex3_1_r.usd

Multiphysics USD Path:

Unitree/Dex3/dex3_1_r/dex3_1_r.usda

Number of Joints	7
Number of Links	8
Number of DOFs	7

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

Ufactory

Ufactory

xarm_gripper

Asset details

USD Path:

Ufactory/xarm_gripper/xarm_gripper.usd

Multiphysics USD Path:

Ufactory/xarm_gripper/xarm_gripper.usda

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

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX ArticulationAPI

License: 3D Content Sharing Agreement

xarm7

Asset details

USD Path:

Ufactory/xarm7/xarm7.usd

Multiphysics USD Path:

Ufactory/xarm7/xarm7.usda

Number of Joints	14
Number of Links	15
Number of DOFs	13

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX ArticulationAPI

License: 3D Content Sharing Agreement

xarm6

Asset details

USD Path:

Ufactory/xarm6/xarm6.usd

Multiphysics USD Path:

Ufactory/xarm6/xarm6.usda

Number of Joints	13
Number of Links	14
Number of DOFs	12

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX ArticulationAPI

License: 3D Content Sharing Agreement

uf850

Asset details

USD Path:

Ufactory/uf850/uf850.usd

Multiphysics USD Path:

Ufactory/uf850/uf850.usda

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

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: 3D Content Sharing Agreement

lite6_gripper

Asset details

USD Path:

Ufactory/lite6_gripper/uf_lite_gripper.usd

Multiphysics USD Path:

Ufactory/lite6_gripper/uf_lite_gripper/uf_lite_gripper.usda

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

Physics APIs:

• PhysX MimicJointAPI

• PhysX JointAPI

• PhysX ArticulationAPI

• PhysX RigidBodyAPI

License: 3D Content Sharing Agreement

lite6

Asset details

USD Path:

Ufactory/lite6/lite6.usd

Multiphysics USD Path:

Ufactory/lite6/lite6.usda

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

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: 3D Content Sharing Agreement

Techman

Techman

TM12

Asset details

USD Path:

Techman/TM12/tm12.usd

Multiphysics USD Path:

Techman/TM12/tm12.usda

Number of Joints	9
Number of Links	10
Number of DOFs	6

Sensors	Count
Camera	1

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

ShadowRobot

ShadowRobot

ShadowHand

Variant 1

USD Path:

ShadowRobot/ShadowHand/shadow_hand.usd

Multiphysics USD Path:

ShadowRobot/ShadowHand/shadow_hand/shadow_hand.usda

Number of Joints	25
Number of Links	26
Number of DOFs	24

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

License: BSD-3

Variant 2

USD Path:

ShadowRobot/ShadowHand/shadow_hand_instanceable.usd

Multiphysics USD Path:

ShadowRobot/ShadowHandNewton/shadow_hand_instanceable/shadow_hand_instanceable.usda

Number of Joints	25
Number of Links	26
Number of DOFs	24

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

License: BSD-3

Robotiq

Robotiq

Hand-E

Variant 1

USD Path:

Robotiq/Hand-E/Robotiq_Hand_E_base.usd

Multiphysics USD Path:

Robotiq/Hand-E/Robotiq_Hand_E_base/Robotiq_Hand_E_base.usda

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

Physics APIs:

• PhysX ArticulationAPI

License: 3D Content Sharing Agreement

Variant 2

USD Path:

Robotiq/Hand-E/Robotiq_Hand_E_edit.usd

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

Physics APIs:

• PhysX ArticulationAPI

License: 3D Content Sharing Agreement

2F-85

Asset details

USD Path:

Robotiq/2F-85/Robotiq_2F_85_edit.usd

Multiphysics USD Path:

Robotiq/2F-85/Robotiq_2F_85.usda

Number of Joints	8
Number of Links	9
Number of DOFs	6

Physics APIs:

• PhysX MimicJointAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

2F-140

Variant 1

USD Path:

Robotiq/2F-140/2f140_instanceable.usd

Number of Joints	10
Number of Links	11
Number of DOFs	6

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

Variant 2

USD Path:

Robotiq/2F-140/Robotiq_2F_140_base.usd

Multiphysics USD Path:

Robotiq/2F-140/Robotiq_2F_140.usda

Number of Joints	8
Number of Links	9
Number of DOFs	8

Physics APIs:

• PhysX ArticulationAPI

License: 3D Content Sharing Agreement

Variant 3

USD Path:

Robotiq/2F-140/Robotiq_2F_140_config.usd

Number of Joints	10
Number of Links	11
Number of DOFs	10

Sensor/Accessory	Count
Contact Sensor	1

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX SceneAPI

• PhysX ResidualReportingAPI

• PhysX MimicJointAPI

License: 3D Content Sharing Agreement

Variant 4

USD Path:

Robotiq/2F-140/Robotiq_2F_140_physics_edit.usd

Number of Joints	8
Number of Links	9
Number of DOFs	8

Sensor/Accessory	Count
Contact Sensor	1

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX MimicJointAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

Variant 5

USD Path:

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

Number of Joints	10
Number of Links	11
Number of DOFs	6

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

Psyonic

Psyonic

ability_hand_left_large

Asset details

USD Path:

Psyonic/ability_hand_left_large/ability_hand_left_large.usd

Multiphysics USD Path:

Psyonic/ability_hand_left_large/ability_hand_left_large.usda

Number of Joints	12
Number of Links	13
Number of DOFs	11

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

ability_hand_left_small

Asset details

USD Path:

Psyonic/ability_hand_left_small/ability_hand_left_small.usd

Multiphysics USD Path:

Psyonic/ability_hand_left_small/ability_hand_left_small.usda

Number of Joints	12
Number of Links	13
Number of DOFs	11

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

ability_hand_right_large

Asset details

USD Path:

Psyonic/ability_hand_right_large/ability_hand_right_large.usd

Multiphysics USD Path:

Psyonic/ability_hand_right_large/ability_hand_right_large.usda

Number of Joints	12
Number of Links	13
Number of DOFs	11

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

ability_hand_right_small

Asset details

USD Path:

Psyonic/ability_hand_right_small/ability_hand_right_small.usd

Multiphysics USD Path:

Psyonic/ability_hand_right_small/ability_hand_right_small.usda

Number of Joints	12
Number of Links	13
Number of DOFs	11

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

Schunk

Schunk

egk_25

Asset details

USD Path:

Schunk/egk_25/schunk_egk_25.usd

Multiphysics USD Path:

Schunk/egk_25/schunk_egk_25/schunk_egk_25.usda

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

egu_50

Asset details

USD Path:

Schunk/egu_50/schunk_egu_50.usd

Multiphysics USD Path:

Schunk/egu_50/schunk_egu_50/schunk_egu_50.usda

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

ezu_35

Asset details

USD Path:

Schunk/ezu_35/schunk_ezu_35.usd

Multiphysics USD Path:

Schunk/ezu_35/schunk_ezu_35/schunk_ezu_35.usda

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

svh-flat-l

Asset details

USD Path:

Schunk/svh-flat-l/svh-flat-l_v2.usd

Multiphysics USD Path:

Schunk/svh-flat-l/svh-flat-l_v2/svh-flat-l_v2.usda

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

svh-flat-r

Asset details

USD Path:

Schunk/svh-flat-r/svh-flat-r_v2.usd

Multiphysics USD Path:

Schunk/svh-flat-r/svh-flat-r_v2/svh-flat-r_v2.usda

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

RobotStudio

RobotStudio

so101_new_calib

Asset details

USD Path:

RobotStudio/so101_new_calib/so101_new_calib.usd

Multiphysics USD Path:

RobotStudio/so101_new_calib/so101_new_calib.usda

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

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: Apache 2.0

so100

Asset details

USD Path:

RobotStudio/so100/so100.usd

Multiphysics USD Path:

RobotStudio/so100/so100.usda

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

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: Apache 2.0

RethinkRobotics

RethinkRobotics

Sawyer

Asset details

USD Path:

RethinkRobotics/Sawyer/sawyer_instanceable.usd

Multiphysics USD Path:

RethinkRobotics/Sawyer/sawyer_instanceable/sawyer_instanceable.usda

Number of Joints	12
Number of Links	13
Number of DOFs	8

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

License: Apache 2.0

Kuka

Kuka

KR210_L150

Asset details

USD Path:

Kuka/KR210_L150/kr210_l150.usd

Multiphysics USD Path:

Kuka/KR210_L150/kr210_l150.usda

Number of Joints	8
Number of Links	9
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: Apache 2.0

Kinova

Kinova

Jaco2

Variant 1

USD Path:

Kinova/Jaco2/J2N7S300/j2n7s300_instanceable.usd

Number of Joints	14
Number of Links	15
Number of DOFs	13

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Variant 2

USD Path:

Kinova/Jaco2/J2N6S300/j2n6s300_instanceable.usd

Number of Joints	13
Number of Links	14
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Gen3

Asset details

USD Path:

Kinova/Gen3/gen3n7_instanceable.usd

Multiphysics USD Path:

Kinova/Gen3/gen3n7_instanceable/gen3n7_instanceable.usda

Number of Joints	8
Number of Links	9
Number of DOFs	7

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Kawasaki

Kawasaki

RS080N

Asset details

USD Path:

Kawasaki/RS080N/rs080n_onrobot_rg2.usd

Multiphysics USD Path:

Kawasaki/RS080N/rs080n_onrobot_rg2/rs080n_onrobot_rg2.usda

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

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

RS025N

Asset details

USD Path:

Kawasaki/RS025N/rs025n_onrobot_rg2.usd

Multiphysics USD Path:

Kawasaki/RS025N/rs025n_onrobot_rg2/rs025n_onrobot_rg2.usda

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

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

RS013N

Asset details

USD Path:

Kawasaki/RS013N/rs013n_onrobot_rg2.usd

Multiphysics USD Path:

Kawasaki/RS013N/rs013n_onrobot_rg2/rs013n_onrobot_rg2.usda

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

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

RS007N

Asset details

USD Path:

Kawasaki/RS007N/rs007n_onrobot_rg2.usd

Multiphysics USD Path:

Kawasaki/RS007N/rs007n_onrobot_rg2/rs007n_onrobot_rg2.usda

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

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

RS007L

Asset details

USD Path:

Kawasaki/RS007L/rs007l_onrobot_rg2.usd

Multiphysics USD Path:

Kawasaki/RS007L/rs007l_onrobot_rg2/rs007l_onrobot_rg2.usda

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

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

FrankaRobotics

FrankaRobotics

FrankaPanda

Asset details

USD Path:

FrankaRobotics/FrankaPanda/franka.usd

Multiphysics USD Path:

FrankaRobotics/FrankaPanda/franka/franka.usda

Number of Joints	10
Number of Links	11
Number of DOFs	9

Accessories:

• AlternateFinger

• Default

• Robotiq_2F_85

Physics APIs:

• PhysX MimicJointAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX RigidBodyAPI

License: Apache 2.0

FrankaFR3

Asset details

USD Path:

FrankaRobotics/FrankaFR3/fr3.usd

Multiphysics USD Path:

FrankaRobotics/FrankaFR3/fr3/fr3.usda

Number of Joints	12
Number of Links	13
Number of DOFs	9

Physics APIs:

• PhysX MimicJointAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

License: Apache 2.0

FrankaEmika

Asset details

USD Path:

FrankaRobotics/FrankaEmika/panda_instanceable.usd

Multiphysics USD Path:

FrankaRobotics/FrankaEmika/panda_instanceable/panda_instanceable.usda

Number of Joints	10
Number of Links	11
Number of DOFs	9

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: Apache 2.0

FactoryFranka

Variant 1

USD Path:

FrankaRobotics/FactoryFranka/factory_franka.usd

Multiphysics USD Path:

FrankaRobotics/FactoryFranka/factory_franka/factory_franka.usda

Number of Joints	11
Number of Links	12
Number of DOFs	9

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• PhysX CollisionAPI

License: Apache 2.0

Variant 2

USD Path:

FrankaRobotics/FactoryFranka/factory_franka_instanceable.usd

Number of Joints	11
Number of Links	12
Number of DOFs	9

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: Apache 2.0

Flexiv

Flexiv

Rizon4

Asset details

USD Path:

Flexiv/Rizon4/flexiv_rizon4.usd

Multiphysics USD Path:

Flexiv/Rizon4/flexiv_rizon4/flexiv_rizon4.usda

Number of Joints	8
Number of Links	9
Number of DOFs	7

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

Fanuc

Fanuc

CRX10IAL

Asset details

USD Path:

Fanuc/crx10ial_l/crx10ial_l.usd

Multiphysics USD Path:

Fanuc/crx10ia_l/crx10ia_l.usda

Number of Joints	9
Number of Links	10
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

cr_50f_16b

Asset details

USD Path:

Fanuc/cr_50f_16b/cr_50f_16b.usd

Multiphysics USD Path:

Fanuc/cr_50f_16b/cr_50f_16b.usda

Number of Joints	7
Number of Links	8
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

crx10ia

Asset details

USD Path:

Fanuc/crx10ia/crx10ia.usd

Multiphysics USD Path:

Fanuc/crx10ia/crx10ia.usda

Number of Joints	7
Number of Links	8
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

crx5ia

Asset details

USD Path:

Fanuc/crx5ia/crx5ia.usd

Multiphysics USD Path:

Fanuc/crx5ia/crx5ia.usda

Number of Joints	7
Number of Links	8
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

lrmate200id

Asset details

USD Path:

Fanuc/lrmate200id/lrmate200id.usd

Multiphysics USD Path:

Fanuc/lrmate200id/lrmate200id.usda

Number of Joints	7
Number of Links	8
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

m710ic_50

Asset details

USD Path:

Fanuc/m710ic_50/m710ic_50.usd

Multiphysics USD Path:

Fanuc/m710ic_50/m710ic_50.usda

Number of Joints	7
Number of Links	8
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

r2000ic_165f

Asset details

USD Path:

Fanuc/r2000ic_165f/r2000ic_165f.usd

Multiphysics USD Path:

Fanuc/r2000ic_165f/r2000ic_165f.usda

Number of Joints	7
Number of Links	8
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

sr12ia

Asset details

USD Path:

Fanuc/sr12ia/sr12ia.usd

Multiphysics USD Path:

Fanuc/sr12ia/sr12ia.usda

Number of Joints	7
Number of Links	8
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

sr3ia

Asset details

USD Path:

Fanuc/sr3ia/sr3ia.usd

Multiphysics USD Path:

Fanuc/sr3ia/sr3ia.usda

Number of Joints	7
Number of Links	8
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

m900ib280

Asset details

USD Path:

Fanuc/m900ib280/m900ib280.usd

Multiphysics USD Path:

Fanuc/m900ib280/m900ib280.usda

Number of Joints	7
Number of Links	8
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

More

Note

Additional FANUC robot assets (84+ models) can be found in the Content Browser at IsaacSim/Robots/Fanuc. Multiphysics-ready counterparts are also available at IsaacSim/Robots_Multiphysics/Fanuc (see Multiphysics Robots); the large majority of the FANUC fleet has been validated , matching the individually listed models above.

Denso

Denso

CobottaPro900

Asset details

USD Path:

Denso/CobottaPro900/cobotta_pro_900.usd

Multiphysics USD Path:

Denso/CobottaPro900/cobotta_pro_900/cobotta_pro_900.usda

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

Physics APIs:

• PhysX MimicJointAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

CobottaPro1300

Asset details

USD Path:

Denso/CobottaPro1300/cobotta_pro_1300.usd

Multiphysics USD Path:

Denso/CobottaPro1300/cobotta_pro_1300/cobotta_pro_1300.usda

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

Physics APIs:

• PhysX MimicJointAPI

• PhysX ArticulationAPI

• PhysX SceneAPI

• PhysX JointAPI

License: 3D Content Sharing Agreement

Comau

Comau

n-220-27

Asset details

USD Path:

comau/n-220-27/n-220-27.usd

Multiphysics USD Path:

comau/n-220-27/n-220-27.usda

Number of Joints	7
Number of Links	8
Number of DOFs	6

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

Addverb

Addverb

Syncro5

Asset details

USD Path:

Addverb/Syncro5.usd

Multiphysics USD Path:

Addverb/Syncro5/Syncro5.usda

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

License: 3D Content Sharing Agreement

Syncro10

Asset details

USD Path:

Addverb/Syncro10.usd

Multiphysics USD Path:

Addverb/Syncro10/Syncro10.usda

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

License: 3D Content Sharing Agreement

Mecademic

Mecademic

meca500

Asset details

USD Path:

Mecademic/meca500.usd

Multiphysics USD Path:

Mecademic/meca500/meca500.usda

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

License: Apache 2.0

OpenArm

OpenArm

openarm_unimanual

Asset details

USD Path:

OpenArm/openarm_unimanual/openarm_unimanual.usd

Multiphysics USD Path:

OpenArm/openarm_unimanual/openarm_unimanual.usda

Number of Joints	11
Number of Links	12
Number of DOFs	11

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

• PhysX MimicJointAPI

License: Apache 2.0

openarm_bimanual

Asset details

USD Path:

OpenArm/openarm_bimanual/openarm_bimanual.usd

Multiphysics USD Path:

OpenArm/openarm_bimanual/openarm_bimanual.usda

Number of Joints	22
Number of Links	23
Number of DOFs	22

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

• PhysX MimicJointAPI

License: Apache 2.0

I2RT

I2RT

yam

Asset details

Multiphysics USD Path:

I2RT/yam/yam.usda

Number of Joints	9
Number of Links	10
Number of DOFs	9

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

• Physics RigidBodyAPI

License: MIT