{ "meta": { "total": 9, "total_all": 60, "source": "kv", "filter": null, "compatibility_filter": null, "sim_filter": "Isaac Sim", "tier_filter": null, "available_robot_types": [ "humanoid", "quadruped", "arm", "hand", "gripper", "amr" ], "type_counts": { "humanoid": 23, "quadruped": 6, "arm": 24, "hand": 3, "gripper": 1, "amr": 3 }, "asset_tier_schema": { "L0": { "name": "元数据模型", "external": "参数化元数据", "requires": "有名称、类型、来源和估算边界" }, "L1": { "name": "结构可解析", "external": "可导入原型", "requires": "XML Schema 通过、引用完整、单位明确" }, "L2": { "name": "运动学有效", "external": "运动学原型", "requires": "连杆树、关节轴、限位、TCP 经测试" }, "L3": { "name": "物理参数可追", "external": "仿真候选资产", "requires": "质量、惯量、摩擦、执行器参数有来源与假设" }, "L4": { "name": "验证资产", "external": "已验证仿真资产", "requires": "跨引擎回归、关键运动学/动力学对照、必要时真机标定" } }, "asset_tier_counts_all": { "L0": 0, "L1": 60, "L2": 0, "L3": 0, "L4": 0 }, "asset_tier_counts_filtered": { "L0": 0, "L1": 9, "L2": 0, "L3": 0, "L4": 0 }, "asset_tier_note": "默认 L0（RoboParts 元数据驱动的参数化骨架）。L1+ 需显式 asset_tier 覆盖并附 source 与 assumptions（见 ASSET_TIER_OVERRIDES）。" }, "models": [ { "id": "URDF-006", "name": "Unitree G1", "robot_type": "humanoid", "description": "23-DOF全身人形机器人", "joints_count": 23, "joints": 23, "links": 24, "payload": "3kg", "reach": "550mm", "file_size": "52KB", "license": "Apache-2.0", "author": "Unitree Robotics", "updated": "2026-07-27", "download_url": "/api/urdf/download?id=URDF-006", "compatibility": { "ros2": "full", "ros2_details": "原生支持 ROS 2 Humble/Jazzy", "simulation_platforms": [ "Isaac Sim", "Gazebo", "MuJoCo", "PyBullet", "Webots" ], "controllers": [ "ros2_control", "Custom (全身平衡控制器)" ], "mesh_format": "DAE (Collada)", "urdf_version": "1.0", "validated": true, "compatibility_tags": [ "ROS2-Humble", "ROS2-Jazzy", "Isaac-Sim", "Gazebo", "MuJoCo", "PyBullet", "Webots", "Open-Source-Apache2", "Mid-DOF" ] }, "asset_tier": { "tier": "L1", "source": "RoboParts parametric skeleton generator", "assumptions": "几何由 box/cylinder 按 robot_type + joints 数参数化拼接，非厂商 CAD；质量/惯量为硬编码预设表估算，非厂商声明值、非实测。可跑通脚本级动力学仿真，不应用于碰撞敏感任务或真机部署。", "verified_at": null, "schema": { "name": "结构可解析", "external": "可导入原型", "requires": "XML Schema 通过、引用完整、单位明确" } } }, { "id": "URDF-007", "name": "Unitree H1", "robot_type": "humanoid", "description": "20-DOF全身人形机器人", "joints_count": 20, "joints": 20, "links": 21, "payload": "5kg", "reach": "600mm", "file_size": "48KB", "license": "Apache-2.0", "author": "Unitree Robotics", "updated": "2026-07-27", "download_url": "/api/urdf/download?id=URDF-007", "compatibility": { "ros2": "full", "ros2_details": "原生支持 ROS 2 Humble/Jazzy", "simulation_platforms": [ "Isaac Sim", "Gazebo", "MuJoCo", "PyBullet", "Webots" ], "controllers": [ "ros2_control", "Custom (全身平衡控制器)" ], "mesh_format": "STL", "urdf_version": "1.0", "validated": true, "compatibility_tags": [ "ROS2-Humble", "ROS2-Jazzy", "Isaac-Sim", "Gazebo", "MuJoCo", "PyBullet", "Webots", "Open-Source-Apache2", "Mid-DOF" ] }, "asset_tier": { "tier": "L1", "source": "RoboParts parametric skeleton generator", "assumptions": "几何由 box/cylinder 按 robot_type + joints 数参数化拼接，非厂商 CAD；质量/惯量为硬编码预设表估算，非厂商声明值、非实测。可跑通脚本级动力学仿真，不应用于碰撞敏感任务或真机部署。", "verified_at": null, "schema": { "name": "结构可解析", "external": "可导入原型", "requires": "XML Schema 通过、引用完整、单位明确" } } }, { "id": "URDF-008", "name": "Unitree Go2", "robot_type": "quadruped", "description": "12-DOF四足机器人", "joints_count": 12, "joints": 12, "links": 13, "payload": "8kg", "reach": "400mm", "file_size": "35KB", "license": "Apache-2.0", "author": "Unitree Robotics", "updated": "2026-07-27", "download_url": "/api/urdf/download?id=URDF-008", "compatibility": { "ros2": "full", "ros2_details": "原生支持 ROS 2 Humble/Jazzy", "simulation_platforms": [ "Isaac Sim", "Gazebo", "MuJoCo", "PyBullet", "Webots" ], "controllers": [ "ros2_control", "MPC (模型预测控制)", "RL-based Controller" ], "mesh_format": "STL", "urdf_version": "1.0", "validated": true, "compatibility_tags": [ "ROS2-Humble", "ROS2-Jazzy", "Isaac-Sim", "Gazebo", "MuJoCo", "PyBullet", "Webots", "Open-Source-Apache2", "Low-DOF" ] }, "asset_tier": { "tier": "L1", "source": "RoboParts parametric skeleton generator", "assumptions": "几何由 box/cylinder 按 robot_type + joints 数参数化拼接，非厂商 CAD；质量/惯量为硬编码预设表估算，非厂商声明值、非实测。可跑通脚本级动力学仿真，不应用于碰撞敏感任务或真机部署。", "verified_at": null, "schema": { "name": "结构可解析", "external": "可导入原型", "requires": "XML Schema 通过、引用完整、单位明确" } } }, { "id": "URDF-009", "name": "Unitree B2", "robot_type": "quadruped", "description": "15-DOF四足机器人", "joints_count": 15, "joints": 15, "links": 16, "payload": "12kg", "reach": "450mm", "file_size": "42KB", "license": "Apache-2.0", "author": "Unitree Robotics", "updated": "2026-07-27", "download_url": "/api/urdf/download?id=URDF-009", "compatibility": { "ros2": "full", "ros2_details": "原生支持 ROS 2 Humble/Jazzy", "simulation_platforms": [ "Isaac Sim", "Gazebo", "MuJoCo", "PyBullet", "Webots" ], "controllers": [ "ros2_control", "MPC (模型预测控制)", "RL-based Controller" ], "mesh_format": "STL", "urdf_version": "1.0", "validated": true, "compatibility_tags": [ "ROS2-Humble", "ROS2-Jazzy", "Isaac-Sim", "Gazebo", "MuJoCo", "PyBullet", "Webots", "Open-Source-Apache2", "Low-DOF" ] }, "asset_tier": { "tier": "L1", "source": "RoboParts parametric skeleton generator", "assumptions": "几何由 box/cylinder 按 robot_type + joints 数参数化拼接，非厂商 CAD；质量/惯量为硬编码预设表估算，非厂商声明值、非实测。可跑通脚本级动力学仿真，不应用于碰撞敏感任务或真机部署。", "verified_at": null, "schema": { "name": "结构可解析", "external": "可导入原型", "requires": "XML Schema 通过、引用完整、单位明确" } } }, { "id": "URDF-014", "name": "Franka Emika Panda", "robot_type": "arm", "description": "7-DOF协作机械臂", "joints_count": 7, "joints": 7, "links": 8, "payload": "3kg", "reach": "855mm", "file_size": "18KB", "license": "BSD", "author": "Franka Emika", "updated": "2026-07-27", "download_url": "/api/urdf/download?id=URDF-014", "compatibility": { "ros2": "full", "ros2_details": "原生支持 ROS 2 Humble/Jazzy", "simulation_platforms": [ "Gazebo", "Isaac Sim", "MuJoCo", "ROS 2" ], "controllers": [ "ros2_control (joint_trajectory_controller)", "MoveIt 2", "Cartesian Controller" ], "mesh_format": "STL", "urdf_version": "1.0", "validated": true, "compatibility_tags": [ "ROS2-Humble", "ROS2-Jazzy", "Gazebo", "Isaac-Sim", "MuJoCo", "ROS-2", "Open-Source-BSD", "Low-DOF" ] }, "asset_tier": { "tier": "L1", "source": "RoboParts parametric skeleton generator", "assumptions": "几何由 box/cylinder 按 robot_type + joints 数参数化拼接，非厂商 CAD；质量/惯量为硬编码预设表估算，非厂商声明值、非实测。可跑通脚本级动力学仿真，不应用于碰撞敏感任务或真机部署。", "verified_at": null, "schema": { "name": "结构可解析", "external": "可导入原型", "requires": "XML Schema 通过、引用完整、单位明确" } } }, { "id": "URDF-017", "name": "宇树 H1-3", "robot_type": "humanoid", "description": "19-DOF全身人形", "joints_count": 19, "joints": 19, "links": 20, "payload": "3.5kg", "reach": "500mm", "file_size": "45KB", "license": "Apache-2.0", "author": "Unitree Robotics", "updated": "2026-07-27", "download_url": "/api/urdf/download?id=URDF-017", "compatibility": { "ros2": "full", "ros2_details": "原生支持 ROS 2 Humble/Jazzy", "simulation_platforms": [ "Isaac Sim", "Gazebo", "MuJoCo", "PyBullet", "Webots" ], "controllers": [ "ros2_control", "Custom (全身平衡控制器)" ], "mesh_format": "STL", "urdf_version": "1.0", "validated": true, "compatibility_tags": [ "ROS2-Humble", "ROS2-Jazzy", "Isaac-Sim", "Gazebo", "MuJoCo", "PyBullet", "Webots", "Open-Source-Apache2", "Low-DOF" ] }, "asset_tier": { "tier": "L1", "source": "RoboParts parametric skeleton generator", "assumptions": "几何由 box/cylinder 按 robot_type + joints 数参数化拼接，非厂商 CAD；质量/惯量为硬编码预设表估算，非厂商声明值、非实测。可跑通脚本级动力学仿真，不应用于碰撞敏感任务或真机部署。", "verified_at": null, "schema": { "name": "结构可解析", "external": "可导入原型", "requires": "XML Schema 通过、引用完整、单位明确" } } }, { "id": "URDF-020", "name": "Unitree Z1", "robot_type": "gripper", "description": "2-DOF平行夹爪", "joints_count": 2, "joints": 2, "links": 3, "payload": "1kg", "reach": "80mm", "file_size": "8KB", "license": "Apache-2.0", "author": "Unitree Robotics", "updated": "2026-07-27", "download_url": "/api/urdf/download?id=URDF-020", "compatibility": { "ros2": "full", "ros2_details": "原生支持 ROS 2 Humble/Jazzy", "simulation_platforms": [ "Isaac Sim", "Gazebo", "MuJoCo", "PyBullet", "Webots" ], "controllers": [ "ros2_control (gripper_controller)" ], "mesh_format": "STL", "urdf_version": "1.0", "validated": true, "compatibility_tags": [ "ROS2-Humble", "ROS2-Jazzy", "Isaac-Sim", "Gazebo", "MuJoCo", "PyBullet", "Webots", "Open-Source-Apache2", "Low-DOF" ] }, "asset_tier": { "tier": "L1", "source": "RoboParts parametric skeleton generator", "assumptions": "几何由 box/cylinder 按 robot_type + joints 数参数化拼接，非厂商 CAD；质量/惯量为硬编码预设表估算，非厂商声明值、非实测。可跑通脚本级动力学仿真，不应用于碰撞敏感任务或真机部署。", "verified_at": null, "schema": { "name": "结构可解析", "external": "可导入原型", "requires": "XML Schema 通过、引用完整、单位明确" } } }, { "id": "URDF-049", "name": "傅利叶 GR-1", "robot_type": "humanoid", "description": "GR-1全身通用人形机器人，40-DOF自由度", "joints_count": 40, "joints": 40, "links": 43, "payload": "5kg", "reach": "620mm", "file_size": "72KB", "license": "Apache-2.0", "author": "Fourier Intelligence", "updated": "2026-07-28", "download_url": "/api/urdf/download?id=URDF-049", "compatibility": { "ros2": "full", "ros2_details": "原生支持 ROS 2 Humble/Jazzy", "simulation_platforms": [ "Isaac Sim", "Gazebo", "MuJoCo" ], "controllers": [ "ros2_control", "Custom (全身平衡控制器)", "Whole-Body Control (WBC)" ], "mesh_format": "DAE (Collada)", "urdf_version": "1.0", "validated": true, "compatibility_tags": [ "ROS2-Humble", "ROS2-Jazzy", "Isaac-Sim", "Gazebo", "MuJoCo", "Open-Source-Apache2", "High-DOF" ] }, "asset_tier": { "tier": "L1", "source": "RoboParts parametric skeleton generator", "assumptions": "几何由 box/cylinder 按 robot_type + joints 数参数化拼接，非厂商 CAD；质量/惯量为硬编码预设表估算，非厂商声明值、非实测。可跑通脚本级动力学仿真，不应用于碰撞敏感任务或真机部署。", "verified_at": null, "schema": { "name": "结构可解析", "external": "可导入原型", "requires": "XML Schema 通过、引用完整、单位明确" } } }, { "id": "URDF-050", "name": "傅利叶 GR-2", "robot_type": "humanoid", "description": "GR-2第二代全身人形，增强手眼协调与行走能力", "joints_count": 42, "joints": 42, "links": 46, "payload": "6kg", "reach": "650mm", "file_size": "78KB", "license": "Apache-2.0", "author": "Fourier Intelligence", "updated": "2026-07-28", "download_url": "/api/urdf/download?id=URDF-050", "compatibility": { "ros2": "full", "ros2_details": "原生支持 ROS 2 Humble/Jazzy", "simulation_platforms": [ "Isaac Sim", "Gazebo", "MuJoCo" ], "controllers": [ "ros2_control", "Custom (全身平衡控制器)", "Whole-Body Control (WBC)" ], "mesh_format": "DAE (Collada)", "urdf_version": "1.0", "validated": true, "compatibility_tags": [ "ROS2-Humble", "ROS2-Jazzy", "Isaac-Sim", "Gazebo", "MuJoCo", "Open-Source-Apache2", "High-DOF" ] }, "asset_tier": { "tier": "L1", "source": "RoboParts parametric skeleton generator", "assumptions": "几何由 box/cylinder 按 robot_type + joints 数参数化拼接，非厂商 CAD；质量/惯量为硬编码预设表估算，非厂商声明值、非实测。可跑通脚本级动力学仿真，不应用于碰撞敏感任务或真机部署。", "verified_at": null, "schema": { "name": "结构可解析", "external": "可导入原型", "requires": "XML Schema 通过、引用完整、单位明确" } } } ] }