Dataset card: public release, CC-BY-4.0
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README.md
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# ZeroErr eRob SimReady assets
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license: cc-by-4.0
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pretty_name: ZeroErr eRob SimReady Assets
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tags:
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- SimReady
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- OpenUSD
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- robotics
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- isaac-sim
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- actuator
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# ZeroErr eRob SimReady Assets
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OpenUSD simulation assets of ZeroErr eRob integrated rotary actuator modules, prepared for NVIDIA Isaac Sim and the SimReady Central library.
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## Assets
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| Folder | Asset | Description |
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|---|---|---|
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| `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. |
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| `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`). |
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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/`.
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## Validation
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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.
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## Data sources
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All data are taken from ZeroErr public material:
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- Geometry: eRob110I V6 STEP drawing from zeroerr.cn; part split from the public ZeroErrControl/eRob_ROS2_MoveIt repository.
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- 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.
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The assets contain the external shape and published parameters only. They do not contain internal components, servo-drive parameters or manufacturing data.
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## Notes on the articulated asset
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- Origin: centre of the output-flange end face; +Z points into the module.
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- Positive joint rotation is counter-clockwise when facing the output shaft, as defined by the manufacturer.
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- 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.
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- 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.
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- Gear friction, efficiency and backlash are not modelled.
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## License
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[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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