Hands & grippersXacro
Franka Hand
Parallel gripper description from the Franka end-effector collection.
ROS 2
Find your next robot model
Explore upstream URDF and Xacro sources with clear file paths, compatibility notes and browser previews. Start with the robot you need, then choose the right package for your setup.
7 of 32 models · Source checks are not simulator tests.
Hands & grippersURDF3D preview
Unitree Dex3 left hand
Left-side Dex3 hand description for dexterous-manipulation work.
Source models
Hands & grippersURDF3D preview
LEAP Hand V1
Four-finger dexterous hand description from the LEAP simulation repository.
Isaac Gym
Hands & grippersURDF3D preview
Allegro right hand
Right-hand Allegro description from the original SimLab ROS stack.
ROS 1
Hands & grippersXacro
Shadow Dexterous Hand
Configurable Shadow Hand description with finger and sensor variants.
ROS 1
Hands & grippersXacro
Robotiq 2F-85
Parallel gripper visualization source from the ROS-Industrial Robotiq packages.
ROS 1
Hands & grippersXacro
Robotiq 2F-140
Parallel gripper visualization source from the ROS-Industrial Robotiq packages.
ROS 1