robot_descriptions

Public umbrella repository. Brand trees are git submodules at the paths in the official README (not a flat list of robot-descriptions-* folders).

Repository: fiveages-sim/robot_descriptions

Source of truth

  • Paths and submodule table: README.md

  • In open-deploy-ws the checkout is src/robot-descriptions/ after ./init_repo.sh. Do not recursive-init there.

  • Description-side Cursor skills: feature/agilex only (split-chassis-glb) — Add a Robot. main has no .cursor/skills. Newer AgileX / Rokae INEX rows: README on feature/agilex. Taku is in-tree on that branch at humanoid/Dyna/taku_description (package README §3.1 / §3.2); meshes under meshes/{chassis,body,head,arm,dynaclaw}/. Control is split_body.launch.py / full_body.launch.py with robot:=taku, not demo.launch.py. It is not on main and is not a row in that branch’s brand tables.

Layout (README)

robot_descriptions/
├── common/                              # robot-descriptions-common
├── quadruped/                           # robot-descriptions-quadruped
├── humanoid/                            # in-tree wheeled / leg humanoids
│   ├── FiveAges/                        # private gitlinks (not in README tables)
│   ├── Dyna/taku_description            # in-tree on feature/agilex only
│   ├── Galbot/                          # robot-descriptions-galbot
│   └── Agibot/agibot_g2_description     # private
├── manipulator/
│   ├── Dobot/                           # robot-descriptions-dobot
│   ├── ARX/                             # robot-descriptions-arx
│   ├── Tianji/                          # robot-descriptions-tianji
│   ├── Rokae/                           # robot-descriptions-rokae
│   └── HighTorque/panthera_ht_description
└── … in-tree packages (see README tables)

Submodules (README)

Name

Path

Repository

Common Components

common

robot-descriptions-common

Quadruped Robots

quadruped

robot-descriptions-quadruped

Dobot CR5

manipulator/Dobot

robot-descriptions-dobot

Tianji M6

manipulator/Tianji

robot-descriptions-tianji

Rokae AR5

manipulator/Rokae

robot-descriptions-rokae

ARX Robots

manipulator/ARX

robot-descriptions-arx

Galbot Robots

humanoid/Galbot

robot-descriptions-galbot

Agibot G2

humanoid/Agibot/agibot_g2_description

agibot-g2-description (private)

Panthera HT

manipulator/HighTorque/panthera_ht_description

panthera_ht_description

README also tables in-tree wheeled humanoids, mobile manipulators, manipulators (including HighTorque Panthera HT path above), and leg humanoids. Brand folders are those listed there.

FiveAges URDF packages are private gitlinks under humanoid/FiveAges/ in .gitmodules. They are not in the README brand tables and are not a separate robot-descriptions-fiveages umbrella. Paths and remotes: FiveAges robot descriptions.

Standalone clone (README). In open-deploy-ws, prefer ./init_repo.sh instead:

git submodule update --init common
git submodule update --init manipulator/ARX

Launch

demo.launch.py default robot is cr5. Pass robot:=<key> for other {key}_description packages.

ros2 launch ocs2_arm_controller demo.launch.py

Adding a robot

Copy an existing {robot}_description and follow Add a Robot. New remotes and top-level folders should match the README submodule table.