Robot USDs for ROS2 Control

Robot USD model files for ROS2 Control simulation.

1. Gallery

Agibot G1	Agilex Aloha Split	Agilex Cobot Magic V1
Agilex Cobot Magic V2	ARX Lift	ARX X7S
ARX Lift 2S	Astribot S1	Galaxea R1 Lite
Galaxea R1	Galaxea R1 Pro	Galbot One
Realman Aidal	Ai2 Bot2	Galbot Zero
Galbot S1	Galbot G1	Agibot G2
Tianji Gento Luna	Tianji Gento Skye	Spirit AI MOZ1

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/Gen1	fiveages-sim/fiveages-gen1-robot-usds	main
humanoid/FiveAges/Gen2	fiveages-sim/fiveages-gen2-robot-usds	main
humanoid/FiveAges/Gen3	fiveages-sim/fiveages-gen3-robot-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 — under grippers/
  • Agibot (grippers/Agibot/)
    • OmniPicker (OmniPicker)
  • ChangingTek (grippers/ChangingTek/)
    • AG2F120S (AG2F120S)
    • AG2F90 (AG2F90)
  • Inspire (grippers/Inspire/)
    • EG2 4C2 (EG2_4C2)
  • Jodell (grippers/Jodell/)
    • RG75 (RG75)
    • ERG32 (ERG32)
• Dexterous Hand — under dexhands/
  • BrainCo (dexhands/BrainCo/)
    • Revo1 (Revo1)
    • Revo2 (Revo2)
  • LinkerHands (dexhands/LinkerHands/)
    • L6 (L6)
    • o6 (o6)
    • o7 (o7)
  • RobotEra (dexhands/RobotEra/)
    • Xhand1 (Xhand1)
  • Wuji (dexhands/Wuji/)
    • Hand2 (Hand2)
• Suction cup — under suction_cup/
  • YSW (suction_cup/YSW/)
    • E70 (E70)
• Manipulator — under manipulators/ (brand folder → product short name)
  • Agilex (manipulators/AgileX/)
    • Piper / Piper_H / Piper_X / Piper_L
    • Gripper (Gripper)
  • ARX (manipulators/ARX/)
    • X5 (X5)
    • R5 (R5)
    • Gripper 2023 (Gripper_2023)
    • Gripper 2025 (Gripper_2025)
  • Galaxea (manipulators/Galaxea/)
    • A1 / A1X / A1Y / A1Z
    • G1 / G1Z
  • Dobot (manipulators/Dobot/)
    • CR5 (CR5)
    • CR5 Fa Station (CR5_Fa_Station)
  • Elite (manipulators/Elite/)
    • EC66 (EC66)
  • Fairino (manipulators/Fairino/)
    • ART7 (ART7)
  • Tianji (manipulators/Tianji/)
    • M6 CCS (M6_CCS)
    • M6S Lite CCS (M6S_Lite_CCS)
    • M6 Fa Station (M6_Fa_Station)
    • M20S CCS (M20S_CCS)
  • Rokae (manipulators/Rokae/)
    • AR5 CCS V1 / V2 (AR5_CCS_V1, AR5_CCS_V2)
    • AR5 SRS (AR5_SRS)
  • Realman (manipulators/Realman/)
    • RM75 (RM75)
  • HighTorque (manipulators/HighTorque/)
    • Panthera HT (Panthera_HT)
• Humanoid — under humanoid/
  • Agibot (humanoid/Agibot/)
    • G1 (G1)
    • G2 (G2)
  • Ai2 (humanoid/Ai2/)
    • Bot2 (Bot2)
  • Astribot (humanoid/Astribot/)
    • S1 (S1)
    • Gripper (Gripper)
  • FiveAges (humanoid/FiveAges/, submodules)
    • W1 / Gen1 (Gen1)
    • W2 / S2 / Gen2 (Gen2)
    • WCE3 / Gen3 (Gen3)
  • Galaxea (humanoid/Galaxea/)
    • R1 (R1) — includes R1 Pro (Robot variant R1_Pro)
    • R1 Lite (R1_Lite)
  • Galbot (humanoid/Galbot submodule)
    • Galbot One / Zero / S1 / G1
  • Tianji Gento (humanoid/Gento/; Gento is a Tianji sub-brand)
    • Luna (Luna)
    • Skye (Skye)
  • Realman (humanoid/Realman/)
    • Aidal (AIDAL)
  • Spirit AI (humanoid/Spirit AI/)
    • MOZ1 (MOZ1)
  • Ubtech (humanoid/Ubtech submodule)
    • Cruzr S2 (Ubtech_CruzrS2)
• Mobile Base — under mobile_base/
  • Agilex (mobile_base/Agilex/)
    • Ranger Mini
    • Tracer V1
    • Tracer V2
  • Linkhou (mobile_base/Linkhou/)
    • Q1 (Q1)
    • S2_V1 (S2_V1)
    • S2_V2 (S2_V2)
    • G2 Chassis (G2_Chassis)
  • Angellun (mobile_base/Angellun/)
    • Moz1 Chassis (Moz1_Chassis)
  • Woosh (mobile_base/Woosh/)
    • Ai2 Bot2 Chassis (Ai2_Bot2_Chassis)
    • RM AIDAL Chassis (RM_AIDAL_Chassis)
• Mobile Manipulator — under mobile_manipulator/
  • Agilex (mobile_manipulator/Agilex/)
    • Split Aloha (Arm_Left / Arm_Right: Piper, Piper_H, Piper_X, Piper_L)
    • Cobot Magic V1
    • Cobot Magic V2 (Arm_Left / Arm_Right: Piper, Piper_H, Piper_X, Piper_L)
  • ARX (mobile_manipulator/ARX/)
    • Lift (Lift)
    • Lift 2S (Lift 2S)
    • X7S (X7S)
    • AC One Base (AC_One_Base)
• Components — under components/ (shared wheels / fixtures)
  • Angellun
    • Angellun_8 (Angellun_8)
    • Angellun_10 (Angellun_10)
  • omnia_150 (omnia_150)
  • fixed_ee (fixed_ee/)
    • Concave_type1 / Hook_type1 / Scoop_type1
• Sensors — under sensors/
  • RealSense (sensors/realsense/)
    • d405 / d415 / d435
  • Orbbec (sensors/orbbec/)
    • 305 / 336 / 336L / 335Le / 335Lg
    • dabai_agilex / dabai_dw / oradar_ms500
  • RoboSense (sensors/robosense/)
    • Airy (airy)
  • Linkhou (sensors/linkhou/)
    • DS51 (ds51)
  • mid360, sdkeli_ls2
  • usb_camera_01 / usb_camera_02
  • ultrasonic (sensors/ultrasonic/)
    • ultrasonic_02 / ultrasonic_03
  • 6Dof F&T Sensor
    • KWR75B
  • sick (sensors/sick/)
    • nanoScan3
  • sensing (sensors/sensing/)
    • SHW5G / AstraS56 / M3A

4. Directory Structure

The core directory is robots. Brand-owned product trees use short product names under a brand folder (same pattern as manipulators/ARX/X5, humanoid/Galaxea/R1). Gento is a Tianji sub-brand on the humanoid side; the folder remains humanoid/Gento/.

robots/
  grippers/
    Agibot/OmniPicker/  ChangingTek/{AG2F120S,AG2F90}/
    Inspire/EG2_4C2/  Jodell/{RG75,ERG32}/
  dexhands/
    BrainCo/{Revo1,Revo2}/  LinkerHands/{L6,o6,o7}/
    RobotEra/Xhand1/  Wuji/Hand2/
  suction_cup/
    YSW/E70/
  manipulators/
    AgileX/{Piper,Piper_H,Piper_X,Piper_L,Gripper}/
    ARX/{X5,R5,Gripper_2023,Gripper_2025}/
    Galaxea/{A1,A1X,A1Y,A1Z,G1,G1Z}/
    Dobot/{CR5,CR5_Fa_Station}/  Elite/EC66/  Fairino/ART7/
    Tianji/{M6_CCS,M6S_Lite_CCS,M6_Fa_Station,M20S_CCS}/
    Rokae/{AR5_CCS_V1,AR5_CCS_V2,AR5_SRS}/
    Realman/RM75/  HighTorque/Panthera_HT/
  humanoid/
    FiveAges/{Gen1,Gen2,Gen3}/
    Galaxea/{R1,R1_Lite}/
    Galbot/  Agibot/{G1,G2}/
    Gento/{Luna,Skye}/          # Tianji sub-brand
    Astribot/{S1,Gripper}/  Spirit AI/MOZ1/
    Realman/AIDAL/  Ubtech/Ubtech_CruzrS2/
  mobile_base/
    Agilex/{Ranger Mini,Tracer V1,Tracer V2}/
    Linkhou/{Q1,S2_V1,S2_V2,G2_Chassis}/
    Angellun/Moz1_Chassis/
    Woosh/{Ai2_Bot2_Chassis,RM_AIDAL_Chassis}/
  mobile_manipulator/
    ARX/{Lift,Lift 2S,X7S,AC_One_Base}/
    Agilex/{Cobot Magic V1,Cobot Magic V2,Split Aloha}/
  components/
    Angellun_8/  Angellun_10/  omnia_150/
    fixed_ee/{Concave_type1,Hook_type1,Scoop_type1}/
  sensors/
    realsense/{d405,d415,d435}.usd
    orbbec/{305,336,336L,335Le,335Lg,dabai_agilex,dabai_dw,oradar_ms500}.usd
    robosense/airy.usd  linkhou/ds51.usd
    sensing/  sick/  ultrasonic/
  README.md
  LICENSE

Some scenes under */env/ depend on external environment assets (see §5).

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.