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FiveAges Sim Docs
FiveAges Sim Docs

Overview

  • Introduction
  • Architecture
  • Newcomer Learning Path
  • Repository Map
  • Public vs Internal Paths

Getting Started

  • Introduction
  • Install Environment
  • Quick Demo (Public Path)
  • open-deploy-ws Setup
  • fa-deploy-ws Setup
  • FAQ

More applications

  • Introduction
  • Field commissioning
  • Classical algorithm engineer
  • VLA collect / train / deploy
  • Simulation engineer

How-To Guides

  • Introduction
  • Basic Operations
    • Run Mock Demo
    • Switch Robot
  • Simulation
    • Gazebo Simulation
    • Isaac Sim
  • Programming
    • Python Interface
  • Controllers
    • Use Basic Joint Controller
    • Configure ROS 2 controller parameters
  • Teleoperation
    • VR Teleoperation
    • Isomorphic Teleop
    • Drag teaching is not implemented
    • DexCap Teleoperation
  • Deployment
    • Go to Real Hardware
      • ARX Lift 2S
      • HighTorque Panthera HT
    • Add a Robot
  • Synthetic Data
    • Isaac Scenes and USD
    • Interface and Orchestration
    • LeRobot Record and Export

Concepts

  • Introduction
  • Terminology
  • ros2_control in This Stack
  • Workspace Layout
  • Naming Conventions
  • FSM and Topics
  • 分体控制 vs 全身控制
  • Source vs GitHub Release .deb
  • Submodules Visibility

Reference

  • Robot Descriptions Reference
    • robot_descriptions
    • robot-descriptions-common
    • Brand Packages (Public)
    • FiveAges robot descriptions
    • Vendor Arms (Private)
  • Hardware Interfaces
    • topic_based_ros2_control
    • Unitree
    • Dobot CR
    • ARX (方舟无限)
    • HighTorque (高擎)
    • Marvin
    • Modbus
    • CAN
    • Juxie
  • Controllers Reference
    • Basic Joint Controller
    • ocs2_ros2
    • OCS2 Arm Controller
    • OCS2 WBC Controller
    • ocs2-humanoid
    • lina_planning
    • Adaptive Gripper Controller
    • Controller ROS 2 parameters
  • Simulation Reference
    • Gazebo Harmonic
    • FaSim-Isaac
    • robot_usds
    • USD Submodules
    • Environment Assets
  • Teleoperation Reference
    • vr_pose_publisher
    • Isomorphic teleop (drag_teleop_controller)
    • DexCap System
    • teleop-joint-mapper
    • wuji_glove_teleop
    • vive_tracker_teleop
    • wuji-ros2-control
  • Python Applications Reference
    • ros2_robot_interface
    • fa-py-libraries
    • ros2-viser
    • lerobot_ros2
    • robot_action_composer
    • HUG
    • wuji-retargeting

Developer Guide

  • Introduction
  • Contributing
  • Documentation Build
  • Debian Packaging
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Basic Operations¶

Mock-hardware checks and switching the robot model.

  • Run Mock Demo
  • Switch Robot
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