---
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.