Included Environments and Robots¶
General Omniverse Content¶
General content for Omniverse is found on the NVIDIA
Omniverse Mount on your Nucleus server.
Within this mount is where you can find an assortment of useful goodies from textures to HDRI Skies to animated rigs.
Each bit of content can be helpful for crafting new an imaginative scenes all while you learn your way through the Omniverse.
More information about this content can be found at Omniverse Mount Content.
Isaac Sim Content¶
Sample assets are available for download with the Omniverse Isaac Sim release. To use this content, you must download the files to a Nucleus server or create an Isaac Mount on a Nucleus server. All asset paths below are assumed to be relative to your Nucleus server.
More information about how to install this content can be found at Isaac Sim First Run or at Adding Sample Assets via Mount.
Environments¶
Simple Grid¶
This simple environment contains a flat ground and sides with a grid texture. Three configurations are provided; the first two have square corners, the third has curved corners.
Assets Path: /Isaac/Environments/Grid/
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Simple Room¶
A simple room containing a table.
Asset Path: /Isaac/Environments/Simple_Room/simple_room.usd
Warehouse¶
A warehouse environment with shelving and objects that can be placed on them. Four configurations are provided:
Assets Path: /Isaac/Environments/Simple_Warehouse/
A small warehouse with a single shelf. |
A small warehouse with a single shelf and forklifts. |
A small warehouse with multiple shelves. |
A full-sized warehouse with shelves, obstacles on the floors, and forklifts. |
Hospital¶
A hospital environment, with multiple rooms and spaces.
Asset Path: /Isaac/Environments/Hospital/hospital.usd
Office¶
An Office Environment, with multiple rooms and an open plan floor.
Asset Path: /Isaac/Environments/Office/office.usd
Jetracer Track¶
A jetracer track outlined on the ground plane.
Asset Path: /Isaac/Environments/Jetracer/jetracer_track_solid.usd
Robots¶
Carter¶
The NVIDIA Carter robot provides a differential base for navigation-related applications. The Carter v2 is the second iteration of the robot, using the RMP Lite 220 wheelbase.
Assets Path: /Isaac/Robots/Carter/
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Franka Emika: Panda¶
The Franka Emika: Panda robot is provided in two configurations, the base/default configuration and the alternate finger gripper configuration used by the Leonardo preview sample application.
Assets Path: /Isaac/Robots/Franka/
Base Franka. |
Franka With Alternate Fingers. |
DofBot¶
This is DofBot, an affordable robotic arm with NVIDIA Jetson Nano.
Asset Path: /Isaac/Robots/Dofbot/dofbot.usd
JetBot¶
The open-source NVIDIA JetBot AI robot platform gives makers, students, and enthusiasts everything they need to build creative, fun, intelligent AI applications.
Assets Path: /Isaac/Robots/Jetbot/
Jetbot simplified model. |
High-resolution Jetbot model imported from CAD. |
JetRacer¶
This is Jetracer, a research platform for autonomous driving
Asset Path: /Isaac/Robots/JetRacer/jetracer.usd
Kaya¶
The NVIDIA Kaya robot is a platform to demonstrate the power and flexibility of the Isaac Robot Engine running on the NVIDIA Jetson Nano™ platform. It has been designed with 3D-printed parts and hobbyist components to be as accessible as possible and features a three-wheeled holonomic drive, which allows it to move in any direction.
Asset Path: /Isaac/Robots/Kaya/kaya.usd
Simple¶
The NVIDIA Simple example provides a starting point to experiment with Isaac Robotics.
Asset Path: /Isaac/Robots/Simple/simple_articulation.usd
Smart Transport Robot¶
The autonomous Smart Transport Robot (STR) was developed by BMW’s logistics innovation team and Fraunhofer Institute Dortmund.
- Assets Path:
/Isaac/Robots/Transporter/
: transporter.usd
- Base Version. Has mobile base physics rigged.transporter_sensors.usd
- Base Version plus sensors API (Lidar, First and third person navigation camera).transporter_static.usd
- Static model with no physics rigged.
Universal Robotics: UR10¶
The Universal Robotics UR10 is provided in three configurations. The first is a base version, which has no end effector and is used to compose the other versions.
The second model has a wrist camera mount and a suction cup end effector, while the third version contains a larger vacuum gripper system.
Assets Path: /Isaac/Robots/UR10/
Base, No End Effector. |
Short Suction Gripper. |
Long Suction Gripper. |
Vehicle Examples¶
The basic vehicle examples provide a framework for creating mobile platforms with two standard units for measurement.
Basic Vehicle (cm)¶
Asset Path: /Isaac/Robots/Vehicle/
This vehicle uses centimeters as the unit of measure. |
This vehicle uses meters as the unit of measure.
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April Tags¶
We provide a simple mdl material that can index into a April Tag mosaic image.
To use, add the material to your stage using Create->Isaac->April Tag->
or by dragging the following material into the stage from the content browser
/Isaac/Materials/AprilTag/AprilTag.mdl
Then create a mesh cube using Create->Mesh->Cube
and assign the AprilTag material to that prim
The material has the following parameters which need to be configured:
Mosaic texture
The path to the texture that contains the grid of April tag imagesTag Size
The width/height of the tag in pixelsTags Per Row
The number of tag images per row in the mosaicSpacing
The number of padding pixels between each tag imageTag ID
The index of the tag to use.
Some sample mosaic textures are provided in /Isaac/Materials/AprilTag/Textures/
The figure below shows example usage using /Isaac/Materials/AprilTag/Textures/tag36h11.png