Shadow Dexterous Hand

Configurable Shadow Hand description with finger and sensor variants.

Hands & grippersXacroROS 1

Inspect the generated URDF

This source uses Xacro. Generate a URDF with the upstream package and its required arguments, then open the output and meshes in the viewer.

Visualization checks geometry and joint motion. It does not run a physics simulation.

Expand Xacro in the complete Shadow workspace with the chosen side and sensor settings.

Shadow Hand Xacro sources on noetic-devel. Hand side, sensor options and dependencies affect the expanded model.

Keep meshes, includes and license files together. A single URDF or Xacro file may not be enough.

Full repository at the recorded revision. Submodules and external dependencies may need separate installation.

Maintainer / source: shadow-robot/sr_common
Branch at check: noetic-devel
Model path: sr_description/robots/sr_hand.urdf.xacro
Revision: 172c3d9c3715
License context: BSD-3-Clause reported at repository level; inspect asset-specific terms
Source checked: 2026-10-28 · path and resources, not simulator behavior

1. Get the complete package
Use the ZIP above or clone the upstream repository. Follow its installation instructions for your branch and ROS distribution.
2. Resolve the description
Expand Xacro with the documented arguments and dependencies. Keep package paths and mesh files available.
3. Inspect before simulation
Check the link tree and limits, then validate in your chosen simulator. Controllers and physics settings are separate.
Check your URDF