FiveAges Sim Documentation¶
Welcome to the documentation for FiveAges Sim — a multi-repository ROS 2 robotics ecosystem for control, simulation, and deployment developed by FiveAges.
Getting Started
New here? Start with the Learning Path, then Install Environment, then Quick Demo (Public Path). Do not skip install.
About This Ecosystem¶
FiveAges Sim provides:
Unified robot descriptions — URDF/xacro packages for wheeled-arm humanoids, manipulators, and mobile robots
Hardware interfaces — ROS 2 control hardware plugins for various robot platforms (Dobot, ARX, Galbot, HighTorque, and more)
MPC controllers — OCS2-based arm (分体控制) and 全身控制
Simulation backends — Gazebo Harmonic, and FaSim (Isaac Sim high-fidelity + ROS 2 运控, matching real-robot motion plus ground truth)
Teleop solutions — VR, isomorphic teleop, DexCap, and glove-based teleoperation
Python libraries — High-level interfaces for robot control and data collection
Synthetic data pipeline — Isaac USD scenes, task-queue orchestration, LeRobot record/export
Two Entry Paths¶
Path |
Workspace |
Audience |
|---|---|---|
Public |
|
External users, OSS contributors; public submodules only |
Internal |
|
FiveAges team; FA wheeled-arm humanoids (W2/W2R/S2/S2R) + dual-arm systems |
Start with the public path if you’re new. Internal users should read fa-deploy-ws setup after getting familiar with the stack.
Documentation Structure¶
Getting Started
More applications
How-To Guides
Concepts
Reference
Developer Guide