robot_usds¶

USD robot asset superproject for Isaac Sim.

Brand EN/ZH labels in this docs set follow README_zh-CN.md §3.1 (English folder names match that table). Examples: 方舟无限 = ARX; 高擎 = HighTorque / Panthera; 越疆 = Dobot; 银河通用 = Galbot; 中科第五纪 = FiveAges.

Purpose¶

robot_usds provides:

USD robot models for Isaac Sim
Organized asset hierarchy
Submodule management for brand-specific assets

Structure¶

robot_usds/
├── humanoid/
│   ├── FiveAges/
│   │   ├── Gen1/             # → fiveages-gen1-robot-usds
│   │   ├── Gen2/             # → fiveages-gen2-robot-usds
│   │   └── Gen3/             # → fiveages-gen3-robot-usds
│   ├── Galbot/               # → galbot-usds
│   └── Ubtech/               # → ubtech-usds
├── manipulators/             # Arm USD assets
├── mobile_manipulators/
├── grippers/
└── sensors/

Submodules¶

The following are managed as Git submodules:

Path	Repository	Branch
`humanoid/FiveAges/Gen1`	fiveages-gen1-robot-usds	main
`humanoid/FiveAges/Gen2`	fiveages-gen2-robot-usds	main
`humanoid/FiveAges/Gen3`	fiveages-gen3-robot-usds	main
`humanoid/Galbot`	galbot-usds	main
`humanoid/Ubtech`	ubtech-usds	main

Usage¶

Primary path: inside FaSim-Isaac, ./init.sh operation 1 initializes robots/ (this superproject) according to submodules_visibility.conf.

cd FaSim-Isaac
./init.sh

Manual fallback

Standalone clone only if you are not using FaSim:

git clone https://github.com/fiveages-sim/robot_usds.git
cd robot_usds
git submodule update --init

In-Tree Assets

Assets directly in robot_usds (not submodules):

Directory	Content
`grippers/`	Gripper USD models
`manipulators/`	Arm models
`mobile_manipulators/`	Mobile + arm
`sensors/`	Camera, lidar models

Asset Naming

Gen1/Gen2/Gen3

From the robot_usds README Humanoid → FiveAges table:

Gen1 — W1 (humanoid/FiveAges/Gen1 → fiveages-gen1-robot-usds)
Gen2 — W2 / S2 (humanoid/FiveAges/Gen2 → fiveages-gen2-robot-usds)
Gen3 — WCE3 (humanoid/FiveAges/Gen3 → fiveages-gen3-robot-usds)

URDF / deploy: FiveAges robot descriptions.

Load assets through FaSim-Isaac (./init.sh / ./run.sh) and that robot’s USDA.