🎯 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.

📦 Installation

pip install dexmate_urdf

or install from source

cp -r robots/* src/dexmate_urdf/robots/
python scripts/workflows/generate_content.py
pip install -e .

🚀 Quick Start

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	Visual1	Convex Collision2	Sphere Collision3
Vega-1

🔧 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

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.

📄 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 file for the complete license text.