This repository offers an assortment of high-quality models for dexterous hands and objects. Both of them are in URDF format.

Robot Model	Visual1	Collision2
Allegro Hand
Shadow Hand
SCHUNK SVH Hand
Ability Hand
Leap Hand
DClaw Gripper
Barrett Hand
Inspire Hand
Panda Gripper

URDF Parser Links: yourdfpy, IsaacGym, SAPIEN, PyBullet

Robot Source

Robot Model	Official Website	URDF Source	CAD Model Source	License
Allegro Hand	Wonik Robotics	allegro_hand_ros	N/A	BSD
Shadow Hand	Shadow Robot Company	sr_common	N/A	GPL-3.0
SCHUNK SVH Hand	SCHUNK	schunk_svh_ros_driver	N/A	Apache-2.0
Ability Hand	PSYONIC	ability-hand-api	N/A	N/A
Leap Hand	Leap Hand	LEAP_Hand_Sim	Leap Hand CAD	CC BY-NC 4.0
DClaw Gripper	Robel Benchmark	N/A	D'Claw CAD	Apache-2.0
Barrett Hand	Barrett Technology	bhand_model	BarrettHand CAD	BSD
DexHand	DexHand	dexhand_description	Dexhand	CC BY-NC-SA 4.0
Inspire Hand	Inspire-Robot	N/A	inspire_hand	CC BY-NC-SA 4.0

Citation

If you use dex_urdf in your work, please use the following citation:

@article{bunny-visionpro,
    title={Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning},
    author={Runyu Ding and Yuzhe Qin and Jiyue Zhu and Chengzhe Jia and Shiqi Yang and Ruihan Yang and Xiaojuan Qi and Xiaolong Wang},
    year={2024},
    url={https://arxiv.org/abs/2407.03162},
}

This repository contains models derived from open-source contributions by various developers and manufactures. The development of dex_urdf was made possible thanks to the generous work of numerous designers and engineers. We extend our sincere appreciation to all those whose efforts have contributed to this project.

Footnotes

1. Ray tracing animation are rendered in SAPIEN using the urdf with glb version. Code can be found in generate_urdf_animation_sapien.py. ↩

2. Collision mesh are rendered in SAPIEN using the same urdf as the visual. Blue links are modeled using primitives while green links are modeled using convex triangle meshes. Code can be found in generate_urdf_collision_figure_sapien.py](tools/generate_urdf_collision_figure_sapien.py). ↩