Brand Packages (Public)

Public robot description packages for specific brands.

Brand EN/ZH labels follow robot_usds README_zh-CN.md §3.1. Display names used in this docs set (方舟无限 = ARX):

中文简称	English brand / identifier
越疆	Dobot
方舟无限	ARX
银河通用	Galbot
高擎	HighTorque, Panthera
中科第五纪	FiveAges
天机智能	Tianji, Gento
智元	Agibot
因时	Inspire
舞肌	Wuji
法奥	Fairino
珞石	Rokae
优必选	Ubtech

Dobot (越疆)

Repository: fiveages-sim/robot-descriptions-dobot

Robots

Robot	Package	DOF	Payload
CR5	dobot_cr5_description	6	5 kg
CR10	dobot_cr10_description	6	10 kg

Usage

ros2 launch ocs2_arm_controller demo.launch.py robot:=cr5

Parameters

Parameter	Values
robot	cr5 (demo.launch.py default). Package: dobot_cr5_description

End-effectors: type / left_type / right_type via robot_common_launch. Not gripper:=.

ARX (方舟无限)

Repository: fiveages-sim/robot-descriptions-arx

Robots

Robot	Package	Type	Real Hardware
X5	arx_x5_description	Arm	Co-debug in arx-lift2s
Acone / AC One	arx_acone_description	Dual-arm	Not Lift 2S; quick_start co-debug
Lift 2S	arx_lift2s_description	Full-body (arms + lift + chassis)	Branch arx-lift2s

Real Hardware Ready

ARX Lift 2S is the full-body mobile manipulator. Acone / AC One is dual-arm. See ARX Lift 2S.

Usage

# Acone (dual-arm, not Lift 2S). Full-body ARX Lift 2S: see the dedicated how-to.
ros2 launch ocs2_arm_controller demo.launch.py robot:=arx_acone

CAN Configuration

ARX robots use CAN bus. Ensure interface is configured:

sudo ip link set can0 type can bitrate 1000000
sudo ip link set can0 up

Galbot (银河通用)

Repository: fiveages-sim/robot-descriptions-galbot

Robots

Robot	Package	Type
G1	galbot_g1_description	Mobile manipulator

Usage

ros2 launch ocs2_arm_controller demo.launch.py robot:=galbot_g1

Features

• Mobile base with arm

• Integrated navigation

• Multiple arm configurations

HighTorque (高擎)

Repository: fiveages-sim/panthera_ht_description (umbrella path manipulator/HighTorque/panthera_ht_description)

Robots

Robot	Package	Type	Real Hardware
Panthera HT	panthera_ht_description	Dual-arm manipulator	Branch panthera-ht

Real Hardware Ready

HighTorque Panthera HT real-hardware deploy is the panthera-ht branch. See HighTorque Panthera HT. Launch name in that README is panthera_ht.

Usage

ros2 launch ocs2_arm_controller demo.launch.py robot:=panthera_ht

Features

• Isomorphic master–slave teleop (real hardware)

• Serial communication

• Gravity compensation on the master role

Quadruped

Repository: fiveages-sim/robot-descriptions-quadruped

Robots

Quadruped robot descriptions for legged locomotion.

Usage

Typically used with separate quadruped controller stacks.

Package layout

Copy a real package (Acone: xacro/, xacro/ros2_control/, config/ocs2/) — Add a Robot. Umbrella submodule paths: robot_descriptions.