LEAP Hand

LEAP Hand is a low-cost, anthropomorphic 16-DoF dexterous hand for robot learning, introduced at RSS 2023 by Kenneth Shaw, Ananye Agarwal, and Deepak Pathak (CMU). Each of its four fingers is driven by Dynamixel XC330 serial-bus servos, and the published v1 design assembles in under three hours with common hand tools for under $2,000 (a low-cost variant is also offered). This repository is the official control SDK, with Python, C++, ROS, and ROS2 APIs plus a MANO-to-LEAP retargeting tool. Everything is released under a Creative Commons Attribution-NonCommercial 4.0 (CC BY-NC 4.0) license, which is not OSHW-compatible, and the mechanical CAD is requested separately through leaphand.com.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A primary assembly 3D asset is available from assets/leap_hand/robot.urdf.
• Source-backed bill-of-materials evidence is linked with per-part provenance where available. Prices marked estimated are not yet verified against a vendor.
• A transparent reproducibility score so buildability is a sortable, first-class property.
• Cross-links to the source repo, datasets, models, and forks.

Source

Canonical source: leap-hand/LEAP_Hand_API. Original files stay intact and separately licensed under CC-BY-NC-4.0; Motari adds a separate, adjacent metadata layer.