# dex-urdf

**Repository Path**: jackmacoder/dex-urdf

## Basic Information

- **Project Name**: dex-urdf
- **Description**: main mirror of github
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-09-08
- **Last Updated**: 2025-11-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

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

|   Robot Model   |                                                  Visual[^1]                                                  |                                                    Collision[^2]                                                    |
|:---------------:|:------------------------------------------------------------------------------------------------------------:|:-------------------------------------------------------------------------------------------------------------------:|
|  Allegro Hand   | [<img src="doc/gallery/allegro_rt.webp" width="400">](robots/hands/allegro_hand/allegro_hand_right_glb.urdf) | [<img src="doc/gallery/allegro-collision.png" width="400">](robots/hands/allegro_hand/allegro_hand_right_glb.urdf)  |
|   Shadow Hand   |  [<img src="doc/gallery/shadow_rt.webp" width="400">](robots/hands/shadow_hand/shadow_hand_right_glb.urdf)   |   [<img src="doc/gallery/shadow-collision.png" width="400">](robots/hands/shadow_hand/shadow_hand_right_glb.urdf)   |
| SCHUNK SVH Hand |  [<img src="doc/gallery/svh_rt.webp" width="400">](robots/hands/schunk_hand/schunk_svh_hand_right_glb.urdf)  | [<img src="doc/gallery/schunk-collision.png" width="400">](robots/hands/schunk_hand/schunk_svh_hand_right_glb.urdf) |
|  Ability Hand   | [<img src="doc/gallery/ability_rt.webp" width="400">](robots/hands/ability_hand/ability_hand_right_glb.urdf) | [<img src="doc/gallery/ability-collision.png" width="400">](robots/hands/ability_hand/ability_hand_right_glb.urdf)  |
|    Leap Hand    |     [<img src="doc/gallery/leap_rt.webp" width="400">](robots/hands/leap_hand/leap_hand_right_glb.urdf)      |      [<img src="doc/gallery/leap-collision.png" width="400">](robots/hands/leap_hand/leap_hand_right_glb.urdf)      |
|  DClaw Gripper  |    [<img src="doc/gallery/dclaw_rt.webp" width="400">](robots/hands/dclaw_gripper/dclaw_gripper_glb.urdf)    |    [<img src="doc/gallery/dclaw-collision.png" width="400">](robots/hands/dclaw_gripper/dclaw_gripper_glb.urdf)     |
|  Barrett Hand   |     [<img src="doc/gallery/bhand_rt.webp" width="400">](robots/hands/barrett_hand/bhand_model_glb.urdf)      |     [<img src="doc/gallery/barrett-collision.png" width="400">](robots/hands/barrett_hand/bhand_model_glb.urdf)     |
|  Inspire Hand   |   [<img src="doc/gallery/inspire_rt.webp" width="400">](robots/hands/inspire_hand/inspire_hand_right.urdf)   |   [<img src="doc/gallery/inspire-collision.png" width="400">](robots/hands/inspire_hand/inspire_hand_right.urdf)    |
|  Panda Gripper  |    [<img src="doc/gallery/panda_rt.webp" width="400">](robots/hands/panda_gripper/panda_gripper_glb.urdf)    |    [<img src="doc/gallery/panda-collision.png" width="400">](robots/hands/panda_gripper/panda_gripper_glb.urdf)     |

[^1]: Ray tracing animation are rendered in `SAPIEN` using the urdf with `glb` version. Code can be found
in [generate_urdf_animation_sapien.py](tools/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).

URDF Parser Links:
[yourdfpy](https://github.com/clemense/yourdfpy),
[IsaacGym](https://developer.nvidia.com/isaac-gym),
[SAPIEN](https://sapien.ucsd.edu/),
[PyBullet](https://pybullet.org/wordpress/)

## Robot Source

|   Robot Model   |                          Official Website                           |                                                 URDF Source                                                 |                                    CAD Model Source                                    |     License     |
|:---------------:|:-------------------------------------------------------------------:|:-----------------------------------------------------------------------------------------------------------:|:--------------------------------------------------------------------------------------:|:---------------:|
|  Allegro Hand   | [Wonik Robotics](https://www.wonikrobotics.com/research-robot-hand) | [allegro_hand_ros](https://github.com/simlabrobotics/allegro_hand_ros/tree/master/allegro_hand_description) |                                          N/A                                           |       BSD       |
|   Shadow Hand   |        [Shadow Robot Company](https://www.shadowrobot.com/)         |                           [sr_common](https://github.com/shadow-robot/sr_common)                            |                                          N/A                                           |     GPL-3.0     |
| SCHUNK SVH Hand |                 [SCHUNK](https://schunk.com/us/en)                  |             [schunk_svh_ros_driver](https://github.com/SCHUNK-GmbH-Co-KG/schunk_svh_ros_driver)             |                                          N/A                                           |   Apache-2.0    |
|  Ability Hand   |                 [PSYONIC](https://www.psyonic.io/)                  |                     [ability-hand-api](https://github.com/psyonicinc/ability-hand-api)                      |                                          N/A                                           |       N/A       |
|    Leap Hand    |                  [Leap Hand](http://leaphand.com)                   |          [LEAP_Hand_Sim](https://github.com/leap-hand/LEAP_Hand_Sim/tree/master/assets/leap_hand)           |                     [Leap Hand CAD](http://leaphand.com/assembly)                      |  MIT   |
|  DClaw Gripper  |     [Robel Benchmark](https://github.com/google-research/robel)     |                                                     N/A                                                     | [D'Claw CAD](https://drive.google.com/drive/folders/1H1xN5BU03-eXjuEyIL_iJ_4XzrdDSnlM) |   Apache-2.0    |
|  Barrett Hand   |  [Barrett Technology](http://barrett.com/robot/products-hand.html)  |                        [bhand_model](https://github.com/jhu-lcsr-attic/bhand_model)                         |    [BarrettHand CAD](https://github.com/jhu-lcsr-attic/bhand_model/tree/master/cad)    |       BSD       |
|     DexHand     |                 [DexHand](https://www.dexhand.org/)                 |  [dexhand_description ](https://github.com/iotdesignshop/dexhand_description/blob/main/urdf/dexhand.urdf)   |               [Dexhand](https://github.com/TheRobotStudio/V1.0-Dexhand)                | CC BY-NC-SA 4.0 |
|  Inspire Hand   |          [Inspire-Robot](https://www.inspire-robots.com/)           |                                                     N/A                                                     |             [inspire_hand](https://www.inspire-robots.com/download/frwz/)              | 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.