X2 URDF Models

中文文档 | GitHub

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/	Upgraded motors, reinforced structure
X2 EDU	X2_URDF-v1.4.0/	Educational variant

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_* files)
• If the top line ends with "X2 Ultra -N" → use X2_URDF-v1.4.0/ (X2-Ultra.* files)
• If the top line ends with "X2 EDU" → use X2_URDF-v1.4.0/ (X2-EDU.* files)

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_CN.md
│   └── README.md
│
└── X2_URDF-v1.4.0/                     # X2 Ultra(new version) & X2 EDU
    ├── 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
    ├── X2-EDU.urdf                     # X2 EDU — full model
    ├── X2-EDU_simple_collision.urdf    # X2 EDU — simplified collision
    ├── X2-EDU.xml                      # X2 EDU — MuJoCo format
    ├── scene.xml                       # Scene file
    ├── meshes/                         # Mesh files (STL)
    ├── visual/                         # Preview images
    ├── README_CN.md
    └── 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.