Robot Descriptions Reference

This section documents the robot description packages — URDF/xacro models, meshes, and ros2_control configurations.

Terminology

FiveAges humanoid descriptions (W1, W2, W2R, S2, S2R, WCE3) are wheeled-arm humanoids (mobile base + arms). They are not bipedal or footed humanoids.

Overview

Robot descriptions are organized in a hierarchy:

robot_descriptions/                 # umbrella paths from its README
├── common/                         # robot-descriptions-common
├── quadruped/
├── humanoid/                       # in-tree + Galbot; FiveAges = private gitlinks
└── manipulator/                    # Dobot, ARX, Tianji, Rokae, HighTorque, …

In This Section

• robot_descriptions
• robot-descriptions-common
• Brand Packages (Public)
• FiveAges robot descriptions
• Vendor Arms (Private)

Quick Reference

Package	Robots	Visibility
robot_descriptions	Umbrella	Public
robot-descriptions-common	Grippers, hands, sensors, robot_common_launch (path common)	Public
Brand packages	Dobot, ARX, Galbot, HighTorque	Public
FiveAges descriptions	humanoid/FiveAges/* URDF gitlinks + Gen1/2/3 USD	Private remotes
Vendor arms	Tianji, Rokae, etc.	Private