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 |  |
 |
| Shadow Hand |  |
 |
| SCHUNK SVH Hand |  |
 |
| Ability Hand |  |
 |
| Leap Hand |  |
 |
| DClaw Gripper |  |
 |
| Barrett Hand |  |
 |
| Inspire Hand |  |
 |
| Panda Gripper |  |
 |
[^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).
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.