Repository Map¶

This page lists all repositories in the FiveAges Sim ecosystem, organized by architectural layer.

Legend¶

[P] = Public repository
[I] = Private/internal repository
[X] = External repository (not in fiveages-sim org)

Entry Workspaces¶

Repository	Visibility	Purpose
open-deploy-ws	[P]	Public quick-start workspace
fa-deploy-ws	[I]	Internal deployment for FA robots
dexcap_teleop_ws	[I]	DexCap teleoperation workspace
FaSim-Isaac	[P]	Isaac Sim assets and jazzy_ws

L1: Descriptions¶

Umbrella Repositories¶

Repository	Visibility	Purpose
robot_descriptions	[P]	Public umbrella for all descriptions
robot-descriptions-common	[P]	Grippers, hands, sensors, `robot_common_launch` (umbrella path `common`)

Brand-Specific (Public)¶

Repository	Visibility	Robots
robot-descriptions-dobot	[P]	Dobot CR series
robot-descriptions-arx	[P]	ARX X5, Acone (dual-arm), Lift 2S
robot-descriptions-galbot	[P]	Galbot mobile manipulators
panthera_ht_description	[P]	HighTorque Panthera HT (`manipulator/HighTorque/panthera_ht_description`)
robot-descriptions-quadruped	[P]	Quadruped robots

Brand-Specific (Private)¶

Repository	Visibility	Robots
robot-descriptions-tianji	[I]	Tianji M6, M6S, M20S
robot-descriptions-rokae	[I]	Rokae arms
robot-descriptions-fairino	[I]	Fairino arms
robot-descriptions-gento	[I]	Gento robots
robot-descriptions-ubtech	[I]	Ubtech humanoids
agibot-g2-description	[I]	Agibot G2

FiveAges (private gitlinks under `robot_descriptions`)¶

There is no separate robot-descriptions-fiveages umbrella (404). Remotes below are from robot_descriptions .gitmodules. Details: FiveAges robot descriptions.

Repository	Visibility	Umbrella path (`main`)
fa-w1-description	[I]	`humanoid/FiveAges/fiveages_w1_description`
fa-w2-description	[I]	`humanoid/FiveAges/fiveages_w2_description`
fa-w2r-description	[I]	`humanoid/FiveAges/fiveages_w2r_description`
fa-s2-description	[I]	`humanoid/FiveAges/fiveages_s2_description`
fa-w2-components	[I]	`humanoid/FiveAges/fiveages_w2_common_description`

fa-s2r-description (fiveages_s2r_description) and fa-wce3-description (fiveages_wce3_description) appear only on robot_descriptions feature/agilex (Gen2 / Gen3).

L2: Hardware Interfaces¶

Public¶

Repository	Visibility	Hardware
arx-ros2-control	[P]	ARX CAN interface
dobot-cr-ros2-control	[P]	Dobot TCP interface
unitree-ros2-control	[P]	Unitree SDK2
ht-ros2-control	[P]	HighTorque Panthera HT serial
marvin-ros2-control	[P]	Tianji + EE matrix
modbus-ros2-control	[P]	RS485 grippers
can-ros2-control	[P]	CAN/CANFD hands
juxie-ros2-control	[P]	JX CAN FD

Private¶

Repository	Visibility	Hardware
rokae-ros2-control	[I]	Rokae arms
eyou-ros2-control	[I]	CANopen harmonic
eyou_canfd_ros2_control	[I]	CAN FD PHU
inex-ros2-control	[I]	iNexus + LinkerHand
wuji-ros2-control	[I]	Wuji Hand2 Ethernet
dexcap-ros2-control	[I]	DexCap V4
fairino-ros2-control	[I]	Fairino SDK

L3: Controllers¶

Repository	Visibility	Purpose
arms_ros2_control	[P]	OCS2 arm controller, teleop plugins
legubiao/ocs2_ros2	[X]	OCS2 MPC library (branch: ros2)
ocs2-wbc-controller	[I]	Whole-body control
ocs2-humanoid	[I]	Wheeled-arm humanoid library
lina_planning	[I]	Trajectory primitives

L4: Simulation¶

Repository	Visibility	Purpose
robot_usds	[P]	Isaac USD superproject
galbot-usds	[P]	Galbot USD assets
fiveages-env-usds	[P]	Environment USD assets
fiveages-gen1-robot-usds	[I]	Gen1 USD (W1; named in public `robot_usds` README)
fiveages-gen2-robot-usds	[I]	Gen2 USD (W2 / S2)
fiveages-gen3-robot-usds	[I]	Gen3 USD (WCE3)
fa-project-usd	[I]	FaSim project assets

L5: Teleop and Applications¶

Teleop¶

Repository	Visibility	Purpose
drag_teleop_controller	[P]	Isomorphic teleop (master–slave)
vr_pose_publisher	[I]	VR pose bridge
teleop-joint-mapper	[I]	DexCap→M6 mapper
wuji_glove_teleop	[I]	Glove teleoperation
vive_tracker_teleop	[I]	Vive tracker EE pose

Python Libraries¶

Repository	Visibility	Purpose
fa-py-libraries	[P]	Python utilities umbrella
ros2_robot_interface	[P]	High-level robot API
ros2-viser	[P]	Viser library (launch via fa-py-libraries)
lerobot_ros2	[P]	LeRobot ↔ ROS 2 monorepo
robot_action_composer	[P]	Task-queue YAML / motion generation
wuji-retargeting	[P]	Hand retargeting
HUG	[I]	Grasp inference

Excluded from This Documentation¶

The following repositories are not documented here:

arms_moveit — MoveIt PoC, not actively maintained
maniskill_models — ManiSkill PoC, not actively maintained
.github — Organization configuration
Navigation/data repositories: internnav_w2, LightNav-0_W2, data-collector-platform, internnav_arx_lift2s
Stale private repositories: vla_http_bridge, Discoverse_socket, fiveages_descriptions, ACT_socket, act_Discoverse_connector, robocasa, lerobot-sim2real-so101, marvin-usds, ubtech-ros2-control