Quadruped Robot Assets

Browse simulation-ready quadruped 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.

6assets

Unitree

6 assets

Browse Unitree quadruped robots and their available variants.

Unitree, 6 assets, Browse Unitree quadruped robots and their available variants.

1asset

IsaacSim

1 asset

Browse IsaacSim quadruped robots and their available variants.

IsaacSim, 1 asset, Browse IsaacSim quadruped robots and their available variants.

1asset

BostonDynamics

1 asset

Browse BostonDynamics quadruped robots and their available variants.

BostonDynamics, 1 asset, Browse BostonDynamics quadruped robots and their available variants.

3assets

ANYbotics

3 assets

Browse ANYbotics quadruped robots and their available variants.

ANYbotics, 3 assets, Browse ANYbotics quadruped robots and their available variants.

3assets

DeepRobotics

3 assets

Browse DeepRobotics quadruped robots and their available variants.

DeepRobotics, 3 assets, Browse DeepRobotics quadruped robots and their available variants.

1asset

Addverb

1 asset

Browse Addverb quadruped robots and their available variants.

Addverb, 1 asset, Browse Addverb quadruped robots and their available variants.

Unitree

Unitree

laikago

Asset details

USD Path:

Unitree/laikago/laikago.usd

Multiphysics USD Path:

Unitree/laikago/laikago.usda

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

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

aliengo

Asset details

USD Path:

Unitree/aliengo/aliengo.usd

Multiphysics USD Path:

Unitree/aliengo/aliengo.usda

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

Physics APIs:

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

Go2

Asset details

USD Path:

Unitree/Go2/go2.usd

Multiphysics USD Path:

Unitree/Go2/go2.usda

Number of Joints	38
Number of Links	39
Number of DOFs	12

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: BSD-3

Go1

Variant 1

USD Path:

Unitree/Go1/go1.usd

Multiphysics USD Path:

Unitree/Go1/go1.usda

Number of Joints	16
Number of Links	17
Number of DOFs	12

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: BSD-3

Variant 2

USD Path:

Unitree/Go1/go1_sensor.usd

Number of Joints	16
Number of Links	17
Number of DOFs	12

Sensor/Accessory	Count
Contact Sensor	4

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: BSD-3

B2

Asset details

USD Path:

Unitree/B2/b2.usd

Multiphysics USD Path:

Unitree/B2/b2.usda

Number of Joints	30
Number of Links	31
Number of DOFs	12

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: BSD-3

A1

Asset details

USD Path:

Unitree/A1/a1.usd

Multiphysics USD Path:

Unitree/A1/a1.usda

Number of Joints	16
Number of Links	17
Number of DOFs	12

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: BSD-3

IsaacSim

IsaacSim

Ant

Variant 1

USD Path:

IsaacSim/Ant/ant.usd

Multiphysics USD Path:

IsaacSim/Ant/ant.usda

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

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: MIT

Variant 2

USD Path:

IsaacSim/Ant/ant_colored.usd

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

Physics APIs:

• PhysX RigidBodyAPI

• PhysX CollisionAPI

• PhysX SceneAPI

License: MIT

Variant 3

USD Path:

IsaacSim/Ant/ant_instanceable.usd

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

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

License: MIT

BostonDynamics

BostonDynamics

spot

Asset details

USD Path:

BostonDynamics/spot/spot.usd

Multiphysics USD Path:

BostonDynamics/spot/spot.usda

Number of Joints	16
Number of Links	17
Number of DOFs	12

Physics APIs:

• PhysX SceneAPI

• PhysX ArticulationAPI

• PhysX JointAPI

• This robot is in Isaac Lab

License: 3D Content Sharing Agreement

ANYbotics

ANYbotics

anymal_d

Asset details

USD Path:

ANYbotics/anymal_d/anymal_d.usd

Multiphysics USD Path:

ANYbotics/anymal_d/anymal_d.usda

Number of Joints	16
Number of Links	17
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

anymal_c

Asset details

USD Path:

ANYbotics/anymal_c/anymal_c.usd

Multiphysics USD Path:

ANYbotics/anymal_c/anymal_c.usda

Number of Joints	17
Number of Links	18
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX ArticulationAPI

• PhysX JointAPI

License: BSD-3

anymal_b

Asset details

USD Path:

ANYbotics/anymal_b/anymal_b.usd

Multiphysics USD Path:

ANYbotics/anymal_b/anymal_b.usda

Number of Joints	16
Number of Links	17
Number of DOFs	12

Physics APIs:

• PhysX RigidBodyAPI

• PhysX JointAPI

• PhysX ArticulationAPI

License: BSD-3

DeepRobotics

DeepRobotics

X30

Asset details

USD Path:

DeepRobotics/X30/X30.usd

Multiphysics USD Path:

DeepRobotics/X30/X30.usda

Number of Joints	16
Number of Links	17
Number of DOFs	12

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: BSD-3

M20

Asset details

USD Path:

DeepRobotics/M20/M20.usd

Multiphysics USD Path:

DeepRobotics/M20/M20.usda

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

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: BSD-3

Lite3

Asset details

USD Path:

DeepRobotics/Lite3/Lite3.usd

Multiphysics USD Path:

DeepRobotics/Lite3/Lite3.usda

Number of Joints	16
Number of Links	17
Number of DOFs	12

Physics APIs:

• PhysX ArticulationAPI

• PhysX JointAPI

License: BSD-3

Addverb

Addverb

Trakr

Asset details

USD Path:

Addverb/Trakr/trakr.usd

Multiphysics USD Path:

Addverb/Trakr/trakr.usda

Number of Joints	16
Number of Links	17
Number of DOFs	12

License: 3D Content Sharing Agreement