Robot USDs for ROS2 Control

Robot USD model files for ROS2 Control simulation.

Screencast.from.2025-11-25.17-05-49.mp4

Clone and Setup

# Clone the repository
git clone git@github.com:fiveages-sim/robot_usds.git
cd robot_usds

# Initialize and update submodules
git submodule update --init --recursive

Models

• Gripper
  • ChangingTek_AG2F120S
  • ChangingTek_AG2F90_C
    • ChangingTek_AG2F90_C with soft pad (rigid body simulation)
  • ChangingTek_AG2F90_C_Soft
  • Inspire_EG2_4C2
  • Jodell_RG75
  • OmniPicker
  • Robotiq_85
• Manipulator
  • ARX5_agilex
  • DobotCR5
    • Dobot CR5 Dual Arm
  • Elite_EC66
  • Agilex Piper
  • rm65
• Humanoid
  • Agibot_G1
  • FiveAges_W1
• Mobile Base
  • Agilex_Tracer
• Mobile Manipulator
  • Agilex_Aloha_V1
  • Agilex_Aloha_V2
• Sensors
  • d405
  • d435
  • dabai
  • mid360

Directory Structure

The core directory is robots, which contains the following subfolders and resources:

robots/
  grippers/           # Gripper models and their configurations
  manipulators/       # Manipulator models, environment samples, and configurations
  humannoid/          # Humanoid robot models and configurations
  mobile_base/        # Mobile base models and configurations
  mobile_manipulator/ # Mobile manipulator models and configurations
  sensors/            # Sensor models
  README.md
  LICENSE

Some scenes under manipulators/*/envs/ depend on external environment assets (textures, shared assets, etc.).

Using Environment Assets

To use environment assets, create an environment folder at the same level as robots, then clone fiveages_env inside it:

# Go to the parent directory of robots (adjust the path as needed)
cd /home/fiveages/Documents/usd

mkdir -p environment
cd environment

# Clone the environment assets repository
git clone git@github.com:fiveages-sim/fiveages-env-usds.git fiveages_env

After cloning, your directory layout should look like:

/home/fiveages/Documents/usd/
  robots/
  environment/
    fiveages_env/

With this layout, scenes that depend on environment assets can correctly reference content from environment/fiveages_env.