Robot USDs for ROS2 Control

Robot USD model files for ROS2 Control simulation.

1. Gallery

Agibot G1	Agilex Aloha Split	Agilex Aloha V1
Agilex Aloha V2	ARX Lift	ARX X7S
Astribot S1	Galaxea R1 Lite	Galaxea R1
Galaxea R1 Pro	Galbot One	Realman Aidal
Ai2 Bot2	ARX Lift2S	Galbot Zero
Galbot S1	Galbot G1

2. Clone and Setup

Note: Some robot assets are distributed as Git submodules. You must run the submodule init/update below so that each repository is checked out at the path expected by this project (see §2.1). Otherwise those assets are missing or empty, and dependent scenes or USD references will not load correctly.

# Clone the repository
git clone git@github.com:fiveages-sim/robot_usds.git
cd robot_usds

# Initialize and update submodules
git submodule update --init --recursive

2.1 Git submodules

The following models are Git submodules (vendored repositories, checked in as gitlinks at fixed paths in this superproject). Paths are relative to the robot_usds repository root; init/update must populate these exact locations (not arbitrary folders) so that relative paths between USDs resolve. After a plain git clone, the submodule directories are empty or absent until you run the commands in §2.

Path	Upstream repository	branch in .gitmodules*
humanoid/FiveAges_W1	fiveages-sim/fa-w1-usds	main
humanoid/FiveAges_W2	fiveages-sim/fa-w2-usds	main
humanoid/Agibot_G2	fiveages-sim/agibot-g2-usds	—
manipulators/Marvin	fiveages-sim/marvin-usds	main
humanoid/Ubtech	fiveages-sim/ubtech-usds	main
humanoid/Galbot	fiveages-sim/galbot-usds	main

*A branch value is the remote branch recorded for that submodule. If empty, the superproject still pins a specific commit; use git submodule update to check out the recorded revision.

3. Models

3.1 Models by category

• Gripper
  • ChangingTek AG2F120S
  • ChangingTek AG2F90
  • Galaxea G1
  • Inspire EG2 4C2
  • Jodell RG75
  • OmniPicker
  • Robotiq 85
• Dexterous Hand
  • BrainCo Revo1
  • BrainCo Revo2
  • LinkerHand o6
  • LinkerHand o7
• Manipulator
  • ARX (manipulators/ARX/)
    • ARX R5 (ARX_R5)
    • ARX X5 (ARX_X5)
    • ARX5 Agilex (ARX5_Agilex)
    • ARX5 Gripper 2023 (ARX5_Gripper_2023)
    • ARX5 Gripper 2025 (ARX5_Gripper_2025)
  • DobotCR5
    • Dobot CR5 Dual Arm
  • Elite EC66
  • Galaxea
    • A1
    • A1X
    • A1Y
  • Agilex
    • Piper
  • Marvin (Tianji AI series)
  • Realman RM75
• Humanoid
  • Agibot G1
  • Agibot G2
  • Ai2 Bot2
  • ARX Lift (humanoid/ARX_Lift)
  • ARX X7S (humanoid/ARX_X7S)
  • Astribot S1
  • Dobot Atom
  • FiveAges W1
  • FiveAges W2
  • Galbot (humanoid/Galbot submodule)
    • Galbot One (Galbot_One)
    • Galbot Zero (Galbot_Zero)
    • Galbot S1 (Galbot_S1)
    • Galbot G1 (Galbot_G1)
  • Galaxea R1
    • Galaxea R1 Pro
  • Realman Aidal
  • Ubtech
• Mobile Base
  • Agilex Ranger Mini
  • Agilex Tracer
  • Agilex Tracer V2
• Mobile Manipulator
  • Agilex Aloha Spilt
  • Agilex Aloha V1
  • Agilex Aloha V2
  • ARX Lift2S (mobile_manipulator/ARX_Lift2S)
  • Galaxea R1 Lite
• Sensors
  • d405
  • d415
  • d435
  • dabai
  • mid360
  • oradar ms500
  • orbbec 336
  • orbbec 336L
  • orbbec dabai dw
  • usb camera 01
• Stands
  • Dual Stand1
  • Dual Stand2

4. Directory Structure

The core directory is robots, which contains the following subfolders and resources:

robots/
  grippers/           # Gripper models and their configurations
  dexhands/           # Dexterous hand models and their configurations
  manipulators/       # Manipulator models, environment samples, and configurations
  humanoid/          # Humanoid robot models and configurations
  mobile_base/        # Mobile base models and configurations
  mobile_manipulator/ # Mobile manipulator models and configurations
  sensors/            # Sensor models
  stands/             # Stand / fixture models
  README.md
  LICENSE

Some scenes under manipulators/*/envs/ depend on external environment assets (textures, shared assets, etc.).

5. Using Environment Assets

To use environment assets, create an environment folder at the same level as robots, then clone fiveages_env inside it:

# Go to the parent directory of robots (adjust the path as needed)
cd /home/fiveages/Documents/usd

mkdir -p environment
cd environment

# Clone the environment assets repository
git clone git@github.com:fiveages-sim/fiveages-env-usds.git fiveages_env

After cloning, your directory layout should look like:

/home/fiveages/Documents/usd/
  robots/
  environment/
    fiveages_env/

With this layout, scenes that depend on environment assets can correctly reference content from environment/fiveages_env.