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作为 AgiBot X2 系列唯一的官方 URDF 模型来源，它提供了清晰的硬件版本识别指南，并同时支持 URDF 和 MuJoCo 格式，对于基于真实产品的仿真和开发至关重要。

适合谁使用

使用 AgiBot X2 人形机器人的机器人开发者
从事 MuJoCo 或 ROS 仿真的仿真工程师
研究人形机器人控制与运动学的研究人员

典型使用场景

在 MuJoCo 中仿真 X2 Ultra 机器人以测试算法
将 URDF 集成到 ROS 进行运动规划和可视化
验证碰撞模型和运动学以支持软硬件协同设计

项目优势

提供两个清晰区分的硬件版本（v1.3.0 和 v1.4.0），并记录了差异
包含简化碰撞的 URDF 文件以加快仿真速度
同时支持标准 URDF 和 MuJoCo XML 格式
通过机器人铭牌编号直接对应模型名称，使用简便

使用前须知

X2 EDU 模型标注为“即将推出”，目前尚不可用
仅覆盖 X2 系列，不包含其他 AgiBot 机器人模型
缺少关节限位、传感器规格或 ROS 启动集成的说明

README 快速开始

X2 URDF Models

中文文档

URDF models for the AgiBot X2 series humanoid robots.

Supported Models

Model	Directory	Description
X2 Ultra	`X2_URDF-v1.3.0/`	Flagship model
X2 Ultra (new version)	`X2_URDF-v1.4.0/X2-Ultra.*`	Upgraded motors, reinforced structure
X2 EDU	—	X2 人人造 (coming soon)

Identifying Your Robot

Check the nameplate on the back of your robot's neck:

If the top line ends with "X2 Ultra" → use X2_URDF-v1.3.0/x2_ultra.*
If the top line ends with "X2 Ultra -N" → use X2_URDF-v1.4.0/X2-Ultra.*
If the top line ends with "X2 EDU" → X2 EDU URDF model is coming soon, please check back for updates.

Directory Structure

├── X2_URDF-v1.3.0/                     # X2 Ultra (flagship)
│   ├── x2_ultra.urdf                   # Full model
│   ├── x2_ultra_simple_collision.urdf  # Simplified collision
│   ├── x2_ultra.xml                    # MuJoCo format
│   ├── x2_fist.urdf                    # Dummy fist end-effector
│   ├── x2_fist.xml                     # Dummy fist end-effector (MuJoCo)
│   ├── scene.xml                       # Scene file
│   ├── meshes/                         # Mesh files (STL)
│   ├── visual/                         # Preview images
│   └── README.md
│
└── X2_URDF-v1.4.0/                     # X2 Ultra (new version)
    ├── X2-Ultra.urdf                   # X2 Ultra (new version) — full model
    ├── X2-Ultra_simple_collision.urdf  # X2 Ultra (new version) — simplified collision
    ├── X2-Ultra.xml                    # X2 Ultra (new version) — MuJoCo format
    ├── scene.xml                       # Scene file
    ├── meshes/                         # Mesh files (STL)
    ├── visual/                         # Preview images
    └── README.md

Viewing the Models

MuJoCo (XML)

pip3 install mujoco
python3 -m mujoco.viewer --mjcf X2_URDF-v1.3.0/scene.xml

Or launch the viewer and drag-and-drop the XML file into the window.

URDF in VSCode

Install the URDF Visualizer extension.

About AgiBot

AgiBot is a robotics company building general-purpose humanoid robots. Learn more at official website.

License

This project is licensed under the Mulan PSL v2 (木兰宽松许可证, 第2版). See LICENSE for details.

项目描述

URDF models for AgiBot X2 series -- 智元灵犀X2系列 URDF

agibot_x2_urdf