LEAP Hand
Carnegie Mellon University
A research hand with design files, APIs and examples for teleoperation and learned manipulation.
What you can explore
Explore a documented hardware platform and its software ecosystem.
Before you use it
This reference describes the original research platform. Later LEAP revisions have different designs.
Original contributors
Kenneth Shaw, Ananye Agrawal and Deepak Pathak
License / access: Check each hardware and software release
Start with the right setup.
INPUTJoint-angle targets
OUTPUTPosition, velocity and motor-current readings
- Environment
- Hardware SDK
- Embodiment
- LEAP Hand v1
What you need
Choose the Python, C++, ROS or ROS 2 API and its documented dependencies.
First useful check
Read joint conventions and connection instructions before commissioning the hand.
Where it stops
A v1 SDK is not evidence of support for v2 or other manufacturers. Motor current is not calibrated fingertip force.
Editorial reference · checked 2026-09-22