According to Index Nominum Genericorum (Plantarum) Volume 3: 1979 the type of Uraria Desvaux (J. Bot. Agric. 1: 122. 1813) is:
LT: U. picta (N.J. Jacquin) Desvaux ex A.P. de Candolle (Prodr. 2: 324. 1825) (Hedysarum pictum N.J. Jacquin) (vide Hutchinson, Gen. Fl. Pl. 1: 482. 1964)
Subir Daa is correct. Hedysarum pictum Jacq. [=Uraria picta (Jacq.) Desv. ex DC.) is type for the genus Uraria Desv., though Desvaux also cited Uraria cercifolia Desv. (Pl. V, fig. 19.) in protologue. Uraria cercifolia Desv. is synonymous to Uraria lagopodoides (L.) DC.