Docs (Sphinx, bilingual): English · 中文
FiveAges Sim is a multi-repository ROS 2 stack for descriptions, Hardware Interfaces, OCS2 MPC (split-body / full-body), Gazebo and FaSim (Isaac Sim + the same ROS 2 motion stack as hardware), teleop, and Python tooling.
Public entry: open-deploy-ws (ROS 2 Jazzy). Internal workspace fa-deploy-ws is not public.
FiveAges Sim 是一套面向描述、驱动层、OCS2 分体/全身控制、Gazebo 与 FaSim（Isaac Sim + 与真机同一套 ROS 2 运控）、遥操作和 Python 工具的 ROS 2 多仓库技术栈。
公开入口：open-deploy-ws（ROS 2 Jazzy）。内部工作空间 fa-deploy-ws 未公开。
| Repository | EN | 中文 |
|---|---|---|
| docs | Sphinx documentation source | 文档源码仓 |
| open-deploy-ws | Public ROS 2 workspace. Lean branches: dobot-cr5, arx-lift2s, panthera-ht. |
公开 ROS 2 工作空间。精简分支：dobot-cr5、arx-lift2s、panthera-ht。 |
| fa-py-libraries | Shared Python libraries | 常用 Python 库 |
fa-deploy-ws |
Internal only (not a public repo) | 内部工作空间（未公开） |
| Repository | EN | 中文 |
|---|---|---|
| robot_descriptions | URDF/xacro umbrella | 描述聚合仓 |
| robot-descriptions-common | Grippers, hands, sensors, robot_common_launch |
夹爪 / 灵巧手 / 传感器 / 公共 launch |
| robot-descriptions-dobot | Dobot CR series | 越疆 CR 系列 |
| robot-descriptions-arx | ARX X5; Acone / AC One (dual-arm); Lift 2S (full-body) | 方舟 X5；Acone / AC One（双臂）；Lift 2S（全身） |
| robot-descriptions-ht | HighTorque Panthera HT | 高擎 Panthera HT |
| robot-descriptions-galbot | Galbot descriptions | 银河通用描述 |
| robot-descriptions-quadruped | Quadruped descriptions | 四足描述 |
| arms_ros2_control | Controllers and teleop for single-arm, dual-arm, and wheeled-arm humanoids | 单臂 / 双臂 / 轮臂人形的控制器与遥操作 |
| drag_teleop_controller | Isomorphic master–slave drag teleop | 同构主从拖动遥操作 |
| Repository | EN | 中文 |
|---|---|---|
| arx-ros2-control | ARX Hardware Interface | 方舟驱动层 |
| dobot-cr-ros2-control | Dobot CR Hardware Interface | 越疆 CR 驱动层 |
| ht-ros2-control | HighTorque Panthera HT Hardware Interface | 高擎 Panthera HT 驱动层 |
| unitree-ros2-control | Unitree SDK2 Hardware Interface | 宇树 SDK2 驱动层 |
| marvin-ros2-control | Tianji Hardware Interface | 天机驱动层 |
| modbus-ros2-control | RS485 / Modbus grippers | RS485 / Modbus 夹爪 |
| can-ros2-control | CAN / CAN FD hands | CAN / CAN FD 灵巧手 |
| juxie-ros2-control | JX CAN FD motor Hardware Interface | JX CAN FD 电机驱动层 |
| Repository | EN | 中文 |
|---|---|---|
| ros2_robot_interface | Topic-based ROS 2 robot API | ROS 2 高层接口 |
| ros2-viser | Viser GUI for ROS 2 | Viser 可视化 |
| lerobot_ros2 | LeRobot ↔ ROS 2 | LeRobot 与 ROS 2 |
| robot_action_composer | Task-queue YAML / motion generation | 任务队列与运动编排 |
| wuji-retargeting | Wuji hand retargeting (org mirror) | 舞肌手部重定向（组织镜像） |
| gym-hil | Human-in-the-loop RL suite | 人在回路强化学习 |
| Repository | EN | 中文 |
|---|---|---|
| FaSim-Isaac | Isaac Sim deploy scripts / FaSim entry | Isaac Sim 部署与 FaSim 入口 |
| robot_usds | Isaac USD superproject | 机器人 USD 聚合 |
| galbot-usds | Galbot USD assets | 银河通用 USD |
| fiveages-env-usds | Environment USDs | 场景 USD |
| maniskill_models | ManiSkill models | ManiSkill 模型 |
| robosuite_models | Robosuite / MuJoCo models | Robosuite（MuJoCo）模型 |
| Repository | EN | 中文 |
|---|---|---|
| internnav_arx_lift2s | InternNav on ARX Lift 2S (full-body) | InternNav 部署到 ARX Lift 2S（全身） |
| socialgen_w2 | Social-nav trajectory generation for W2 | W2 社交导航轨迹生成 |
| Arena_W2 | Arena / GRScenes launch for W2 | W2 的 Arena / GRScenes 启动 |
| scenarios_generate | GRScenes scenario.yaml authoring |
GRScenes 场景脚本生成 |