The Allegro Hand Robot Description package contains XACRO and URDF models of Allegro V4 hand. You can use this package to visualise and integrate the hand with your robots. We support ROS1 and ROS2.

For examples of how to integrate each device look at urdf/*.urdf.xacro files. These attach the device to a fixed world link for visualisation. Each device is defined as a XACRO in the corresponding *.xacro file. When included a macro for attaching the device to the robot will be defined. Each macro has a prefix (for uniquely naming all added links and joints), parent (parent link to attach the device to), and origin (relative offset block).

To see the device in RViz, see example launch files in launch/.