| --- |
| license: cc-by-4.0 |
| pretty_name: ZeroErr eRob SimReady Assets |
| tags: |
| - SimReady |
| - OpenUSD |
| - robotics |
| - isaac-sim |
| - actuator |
| --- |
| |
| # ZeroErr eRob SimReady Assets |
|
|
| OpenUSD simulation assets of ZeroErr eRob integrated rotary actuator modules, prepared for NVIDIA Isaac Sim and the SimReady Central library. |
|
|
| ## Assets |
|
|
| | Folder | Asset | Description | |
| |---|---|---| |
| | `erob110i_v6_brake/` | eRob110I V6 with brake, rigid | The whole module as one rigid body. Mass, centre of mass and inertia are the manufacturer's published values. | |
| | `erob110i_v6_brake_joint/` | eRob110I V6 with brake, articulated | Housing and output flange as two rigid bodies connected by a revolute joint, with reflected rotor inertia (gear ratio 120), a position drive, a 25 rpm velocity limit and a `brake` variant set (`released` / `engaged`). | |
|
|
| Each folder is a SimReady package: the USD asset in `simready_usd/`, thumbnails, the packaging manifest `com.nvidia.simready.packaging.json`, and validation and benchmark results in `.metadata/`. |
|
|
| ## Validation |
|
|
| Both assets pass the SimReady **Robotics-Prop 4.0.0** profile (simready-validate 2026.8.0) and the simready-benchmark runtime tests in Isaac Sim 6.1 (PhysX and Newton sessions). Results are included in each package. |
|
|
| ## Appearance |
|
|
| Colour zones follow the official product photos. Every material has a UsdPreviewSurface and an OpenPBR (MaterialX) surface; renderers that do not read MaterialX use the UsdPreviewSurface. In the OpenPBR surfaces the machined metal parts reflect anisotropically and carry a faint pattern of machining marks, both computed in the shader from the object-space position and normal, without UV sets or texture files. Material values are visual approximations, not measured optical properties. |
|
|
| ## Data sources |
|
|
| All data are taken from ZeroErr public material: |
|
|
| - Geometry: eRob110I V6 STEP drawing from zeroerr.cn; part split from the public ZeroErrControl/eRob_ROS2_MoveIt repository. |
| - Mass properties, torque ratings, rotor inertia, maximum speed and brake holding torque: *eRob Rotary Actuator User Manual V3.45*, Appendix C and Tables 2-3, 2-4 and 7-1. |
|
|
| The assets contain the external shape and published parameters only. They do not contain internal components, servo-drive parameters or manufacturing data. |
|
|
| ## Notes on the articulated asset |
|
|
| - Origin: centre of the output-flange end face; +Z points into the module. |
| - Positive joint rotation is counter-clockwise when facing the output shaft, as defined by the manufacturer. |
| - The default drive gains are generic simulation values for the unloaded joint, not ZeroErr servo-drive parameters. Retune them for your payload; set the stiffness to 0 for velocity control. |
| - The split of mass between housing and output flange uses the published output-side mass and inertia; the output-side centre of mass and transverse inertia are estimates. Details are in the asset metadata. |
| - Gear friction, efficiency and backlash are not modelled. |
|
|
| ## Changes |
|
|
| - 2026-11-10: appearance update (materials and thumbnails). Geometry, mass properties, joint and brake parameters are unchanged. |
| - 2026-11-09: first public version. |
|
|
| ## License |
|
|
| [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/). Attribution: **ZeroErr** (https://www.zeroerr.com). This license does not grant any trademark or patent rights. |
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|
