🤖 Dexmate URDF Collection

High-quality Robot Models for Simulation and Planning

![Models](https://img.shields.io/badge/Models-URDF%20%7C%20SRDF-blue) ![Python](https://img.shields.io/badge/pypi/wheel/dexmate-urdf) ![License](https://img.shields.io/badge/license-Apache--2.0-green) ## 🎯 Overview This repository contains high-fidelity robot models in Unified Robot Description Format (URDF) and Semantic Robot Description Format (SRDF). These models are essential for: - 🎮 Robot Simulation - 🔄 Motion Planning - 🎨 Visualization - 🛠️ Control System Development The corresponding USD files are be found in the [Release](https://github.com/dexmate-ai/dexmate-urdf/releases). ## 📦 Installation ```shell pip install dexmate_urdf ``` or install from source ```shell cp -r robots/* src/dexmate_urdf/robots/ python scripts/workflows/generate_content.py pip install -e . ``` ## 🚀 Quick Start ```python from dexmate_urdf import robots # Access different robot models and configurations # Base variants vega_1_urdf = robots.humanoid.vega_1.vega_1.urdf vega_1u_urdf = robots.humanoid.vega_1u.vega_1u.urdf vega_1p_urdf = robots.humanoid.vega_1p.vega_1p.urdf # Variants with different end-effectors vega_1_f5d6_urdf = robots.humanoid.vega_1.vega_1_f5d6.urdf vega_1_gripper_urdf = robots.humanoid.vega_1.vega_1_gripper.urdf vega_1u_f5d6_urdf = robots.humanoid.vega_1u.vega_1u_f5d6.urdf # Access SRDF and collision URDFs vega_1_srdf = robots.humanoid.vega_1.vega_1.srdf vega_1_collision = robots.humanoid.vega_1.vega_1.collision_spheres_urdf # Load into your favorite simulator load_robot(vega_1_f5d6_urdf) ``` ## 🤖 Available Models | Robot | Visual[^1] | Convex Collision[^2] | Sphere Collision[^3] | |:-----------:|:----------:|:------------------:|:------------------:| | Vega-1 | | | | [^1]: High quality visual modeling for rendering. [^2]: Collision modeling composed of convex decomposition meshes with light simplification, which can be used for physical simulation, etc. [^3]: Collision modeling composed of spheres, which can be an alternative collision representation when speed is more of a concern. These meshes are larger than the real one, which is not desirable to be used in high-fidelity simulation. ## 🔧 Supported Platforms Our models are tested with popular robotics frameworks: - 🎮 **IsaacSim/IsaacLab/IsaacGym** - For simulation and RL training - 🔄 **Pinocchio** - For kinematics and dynamics computation - 🎯 **SAPIEN** - For simulation and visualization ## 📚 Package Structure ```python dexmate_urdf.robots ├── humanoid/ │ ├── vega_1/ # Base variant folder │ │ ├── vega_1.urdf # Base variant (no hands) │ │ ├── vega_1_f5d6.urdf # With F5D6 hands │ │ ├── vega_1_gripper.urdf # With gripper hands │ │ ├── vega.urdf # Alias (symlink to vega_1_f5d6) │ │ └── configs/ # Variant-specific configs │ ├── vega_1u/ # Upper body variants │ │ ├── vega_1u.urdf │ │ ├── vega_1u_f5d6.urdf │ │ └── vega_1u_gripper.urdf │ └── vega_1p/ # Pro variants │ ├── vega_1p.urdf │ ├── vega_1p_f5d6.urdf │ └── vega_1p_gripper.urdf └── ... # More robots ``` ## 📝 Changelog For information about recent updates and changes, please refer to the [CHANGELOG.md](CHANGELOG.md). ## 📄 Licensing ### 🔓 Apache License 2.0 This software is licensed under the **Apache License 2.0**. This permissive license allows you to: - ✅ Use the software commercially - ✅ Modify the software and create derivatives - ✅ Distribute copies and modifications - ✅ Use patent claims (if applicable) See the [LICENSE](./LICENSE) file for the complete license text. ---

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