Robot Adapters and CAD Files
The legacy docs branch contains the following adapter models. The original STEP/STP files are available from the repository's hardware-assets directory:
Aurora Lite flanges
- Franka FR3 / Panda:
Aurora Lite-Flange-FR3&Panda.STEP - Flexiv Rizon4:
Aurora Lite-Flange-Rizon4.STEP - Universal Robots UR5:
Aurora Lite-Flange-UR5.STEP - JAKA S5:
Aurora Lite-Flange-JAKA S5.STEP
| Robot | Preview | Download |
|---|---|---|
| Franka FR3 / Panda |  | STEP |
| Flexiv Rizon4 |  | STEP |
| UR5 |  | STEP |
| JAKA S5 |  | STEP |
g1-ws sensor adapters
- ZhiXing 120s:
g1-ws-知行 120s.stp - Robotiq 2F-85:
g1-ws-Robotiq 2F-85.stp - Franka Panda:
g1-ws-Franka Panda.stp - AC One: left and right STEP files
- R1 Lite: left and right STEP files
| Adapter | Download |
|---|---|
| ZhiXing 120s | STP |
| Robotiq 2F-85 | STP |
| Franka Panda | STP |
| AC One | Left · Right |
| R1 Lite | Left · Right |
Verify left/right orientation, mounting holes, screw length, and end-effector payload. CAD models are design references and do not replace assembly drawings or physical measurement.