LEAP Hand

Low-cost 16-DOF, four-finger anthropomorphic research hand built from Dynamixel servos and readily available parts, assemblable in under 4 hours.

Frames · LEAP Hand

4 items · credit and license on each

Studio render of the published MJCF, the model's zero pose. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from mujoco_menagerie/leap_hand (MIT) · Hyperspawn render · source
Side view of the same MJCF render, the model's zero pose.Rendered by Hyperspawn from mujoco_menagerie/leap_hand (MIT) · Hyperspawn render · source
4 s turntable of the MJCF studio render.Rendered by Hyperspawn from mujoco_menagerie/leap_hand (MIT) · Hyperspawn render · source
LEAP Hand: Low-Cost, Anthropomorphic, Multi-fingered Hand [RSS 2023]Deepak Pathak · official embed · source

Provenance

No browser-ready model packaged yet.

The description is public, but nobody has pinned a commit and checked it compiles in MuJoCo WASM. Clone it and drop the folder on the viewport above (MJCF, or URDF with STL/OBJ meshes). Files stay in your tab.

Policies listed for LEAP Hand

in-hand cube reorientation (LeapHandRot)
Isaac Gym Preview 4 + rl_games PPO (LEAP_Hand_Sim) · not replayed in the tab
source

Train on GPUs

mjlab ships no stock task for LEAP Hand. The training page gives you the pinned model and the steps to write a robot config.

Build the job →