Robot Descriptions

This repository contains the URDF files for quadruped, humanoid, and manipulator robots, all organized as ROS2 packages. Most of them have been repainted in Blender for better visualization. ☺️

Quick Start

# Clone the repository
git clone https://github.com/fiveages-sim/robot_descriptions

# Navigate to the repository directory
cd robot_descriptions

# Initialize and update all submodules
git submodule init
git submodule update

Or clone the repository with all submodules in one command:

git clone --recursive https://github.com/fiveages-sim/robot_descriptions

Note: This repository uses git submodules. Make sure to initialize them to access all robot descriptions and components. See the Submodules section below for details.

Humanoid Robots

Brand	Model	Repaint	Images
Booster	T1	Yes
EngineAI	SA01	Yes
EngineAI	PM01	Yes
RobotEra	xbot	Yes
Agibot	G1	No
Agibot	A2	Yes
Airbot	MMK2	Yes
Astribot	S1	Yes
Galaxea	R1	Yes
Galaxea	R1 Pro	Yes
ARX	LIFT	Yes
ARX	X7S	Yes
Realman	AIDAL	Yes
Unitree	G1	Yes

Manipulator Robots

Brand	Model	Repaint	Images
TheRobotStudio	SO-ARM	Yes
SIGRobotics	Lekiwi	Yes
ARX	X5/R5	Yes
AgileX	Piper	Yes
AgileX	AgileX Aloha	Yes
Galaxea	A1/A1X/A1Y	Yes
Galaxea	R1 Lite	Yes
Airbots	Play	Yes
Realman	RM65	Yes
Elite	EC Series	Yes
OpenArm	OpenArm	Yes

Submodules

This repository uses git submodules to manage shared components and specific robot descriptions independently:

Name	Path	Repository	Description
Common Components	common	robot-descriptions-common	Shared grippers, dexterous hands, camera models, and launch utilities
Dobot CR5	manipulator/Dobot	robot-descriptions-dobot	6-DOF collaborative robot arm with real hardware integration
Tianji M6	manipulator/Tianji	robot-descriptions-tianji	M6-CCS and M6-SRS manipulator arms
Rokae AR5	manipulator/Rokae	robot-descriptions-rokae	6-DOF industrial robot arm

Using Submodules

Initialize all submodules:

git submodule update --init --recursive

Initialize a specific submodule:

# For common components
git submodule update --init common

# For Dobot robot
git submodule update --init manipulator/Dobot

# For Tianji robot
git submodule update --init manipulator/Tianji

# For Rokae robot
git submodule update --init manipulator/Rokae

Update submodules to latest version:

git submodule update --remote

See the individual submodule repositories for detailed documentation and usage instructions.

Manipulator Robots with OCS2

I add mobile manipulator OCS2 config for some of the manipulator robots, you can use them with the manipulator_ocs2.launch.py launch file. More details can be found in the OCS2 documentation.

Quadruped Robots

Brand	Model	Repaint	Images
Unitree	A1	No
Unitree	Aliengo	No
Unitree	Go1	Yes
Unitree	Go2	No
Unitree	B2	No
Deep Robotics	Lite3	Yes
Deep Robotics	X30	Yes
Xiaomi	CyberDog	Yes
MagicLab	MagicDog	Yes
ZsiBot	ZSL-1	Yes