RUKA Hand

RUKA is an open-source, tendon-driven humanoid hand with 15 underactuated hand joints across five fingers, from NYU (Zorin, Guzey, Yan, Iyer, Kondrich, Bhattasali, Pinto; arXiv 2504.13165). The source code initializes 11 Dynamixel-compatible motors that drive the hand through tendon couplings, and the repository includes motor calibration, teleoperation, controller training, MuJoCo XML, and source STL meshes. Motari now renders the hand from the pinned MuJoCo hand_assembly.xml visual mesh hierarchy and treats the BOM as source-listed but unpriced because the repo does not include a complete vendor-verified checkout total.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A primary assembly 3D asset is available from assets/xml/hand_assembly.xml.
• 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: ruka-hand/RUKA. Original files stay intact and separately licensed under MIT; Motari adds a separate, adjacent metadata layer.