FiveAges robot descriptions

One page for FiveAges (中科第五纪) wheeled-arm humanoid URDF packages and their public USD mapping.

Access Required

FiveAges URDF remotes and fa-deploy-ws are private (GitHub 404 without access). Contact your team lead. After access, follow those package READMEs and that workspace’s init scripts.

Source of truth

FiveAges humanoid platforms in this docs set (W1, W2, W2R, S2, S2R, WCE3) are wheeled-arm humanoids (mobile base + arms), not bipedal.

URDF packages (robot_descriptions)

FiveAges descriptions are private git submodules of the public umbrella. Checkout names and remotes below are from .gitmodules. The remotes themselves 404 without access; launch files, xacro trees, and controller YAML are in those package READMEs.

main (flat under humanoid/FiveAges/)

Path

Package dir

Remote

humanoid/FiveAges/fiveages_w1_description

fiveages_w1_description

fa-w1-description

humanoid/FiveAges/fiveages_w2_description

fiveages_w2_description

fa-w2-description

humanoid/FiveAges/fiveages_w2r_description

fiveages_w2r_description

fa-w2r-description

humanoid/FiveAges/fiveages_s2_description

fiveages_s2_description

fa-s2-description

humanoid/FiveAges/fiveages_w2_common_description

fiveages_w2_common_description

fa-w2-components

main has no fiveages_s2r_description and no fiveages_wce3_description gitlink.

feature/agilex (grouped like USD: Gen1 / Gen2 / Gen3)

Gen

Path

Package dir

Remote

Gen1

humanoid/FiveAges/Gen1/fiveages_w1_description

fiveages_w1_description

fa-w1-description

Gen2

humanoid/FiveAges/Gen2/fiveages_w2_description

fiveages_w2_description

fa-w2-description

Gen2

humanoid/FiveAges/Gen2/fiveages_w2r_description

fiveages_w2r_description

fa-w2r-description

Gen2

humanoid/FiveAges/Gen2/fiveages_s2_description

fiveages_s2_description

fa-s2-description

Gen2

humanoid/FiveAges/Gen2/fiveages_s2r_description

fiveages_s2r_description

fa-s2r-description

Gen2

humanoid/FiveAges/Gen2/fiveages_w2_common_description

fiveages_w2_common_description

fa-w2-components

Gen3

humanoid/FiveAges/Gen3/fiveages_wce3_description

fiveages_wce3_description

fa-wce3-description

Do not recursive-init these from open-deploy-ws; visibility is private. After access, init the path named in .gitmodules (or let fa-deploy-ws ./init_repo.sh do it).

Public: Isaac USD (robot_usds)

robot_usds maps FiveAges assets under robots/humanoid/FiveAges/ as Git submodules (private USD repos). From that README:

Path (under robot_usds root)

Upstream

README names

humanoid/FiveAges/Gen1

fiveages-gen1-robot-usds

W1 / Gen1

humanoid/FiveAges/Gen2

fiveages-gen2-robot-usds

W2 / S2 / Gen2

humanoid/FiveAges/Gen3

fiveages-gen3-robot-usds

WCE3 / Gen3

Those three USD remotes and their READMEs are not public. Load assets through FaSim-Isaac (./init.sh / ./run.sh) and that robot’s USDA.

Checkout: FaSim-Isaac ./init.sh (operation that inits robots/ via submodules_visibility.conf), then ./run.sh. See robot_usds.

Private: deploy

fa-deploy-ws is internal. Extra flags and robot IDs live in that README — not here.

After access:

  1. Read the private package README for the checkout you have (not this page).

  2. In fa-deploy-ws, run ./init_repo.sh (do not recursive-init). Extra flags live in that README.

  3. colcon build, then source install/setup.bash in the launch terminal (or that repo’s official quick-start script if it has one).

  4. EEF / hardware:= follow robot_common_launch. There is no gripper:= and no hardware:=mock.

Composer --robot fiveages_w2 is a real key on robot_action_composer ROS2_STACK.md. It is not a documented ./init_repo.sh --robot flag.

Copy an existing public {robot}_description only as a layout hint — Add a Robot.