USD Submodules¶

Details on USD submodules referenced by robot_usds.

In-Scope Submodules¶

These are the only USD repositories in scope for this documentation (based on robot_usds/.gitmodules):

Path	Repository	Description
`humanoid/FiveAges/Gen1`	fiveages-gen1-robot-usds	W1 / Gen1 (private remote)
`humanoid/FiveAges/Gen2`	fiveages-gen2-robot-usds	W2 / S2 / Gen2 (private remote)
`humanoid/FiveAges/Gen3`	fiveages-gen3-robot-usds	WCE3 / Gen3 (private remote)
`humanoid/Galbot`	galbot-usds	Galbot mobile manipulator
`humanoid/Ubtech`	ubtech-usds	Ubtech humanoid

Gen1/Gen2/Gen3¶

FiveAges robot USD assets organized by generation. Names below are from the robot_usds README Humanoid → FiveAges table. The remotes are private (404 without access). URDF gitlinks: FiveAges robot descriptions.

Gen1¶

Repository: fiveages-gen1-robot-usds

README name: W1. Path: humanoid/FiveAges/Gen1.

Gen2¶

Repository: fiveages-gen2-robot-usds

README names: W2 / S2. Path: humanoid/FiveAges/Gen2.

Gen3¶

Repository: fiveages-gen3-robot-usds

README name: WCE3. Path: humanoid/FiveAges/Gen3.

Galbot¶

Repository: fiveages-sim/galbot-usds

Galbot mobile manipulator USD assets.

Contents¶

Robot USD model
Textures and materials
Physics properties

Ubtech¶

Repository: ubtech-usds

Ubtech humanoid USD assets.

Note: Referenced as a robot_usds submodule; minimal separate documentation.

Out of Scope¶

The following USD repositories are not documented as they are not referenced in robot_usds/.gitmodules:

fa-w2-usds — Not in current gitmodules
agibot-g2-usds — Not in current gitmodules
marvin-usds — Obsolete/unreferenced

Updating Submodules¶

Check Current Pins¶

cd robot_usds
git submodule status

Update to Latest¶

git submodule update --remote humanoid/Galbot

Pin to Specific Commit¶

cd humanoid/Galbot
git checkout <commit>
cd ../..
git add humanoid/Galbot
git commit -m "Pin Galbot to <commit>"