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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

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

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).

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