LEAP Hand V1

Four-finger dexterous hand description from the LEAP simulation repository.

Hands & grippersURDFIsaac Gym

Inspect this model in 3D

Rotate the robot, move its joints and inspect collision geometry. The preview fetches model resources directly from the pinned upstream revision.

Visualization checks geometry and joint motion. It does not run a physics simulation.

Upstream simulation code targets Isaac Gym; the viewer only displays the URDF geometry and kinematics.

LEAP Hand V1 simulation assets. The repository targets Isaac Gym; the URDF can be inspected separately.

Keep meshes, includes and license files together. A single URDF or Xacro file may not be enough.

Full repository at the recorded revision. Submodules and external dependencies may need separate installation.

Maintainer / source: leap-hand/LEAP_Hand_Sim
Branch at check: master
Model path: assets/leap_hand/robot.urdf
Revision: 150bc3d4b61f
License context: MIT reported at repository level; inspect asset-specific terms
Source checked: 2026-10-28 · path and resources, not simulator behavior

1. Get the complete package
Use the ZIP above or clone the upstream repository. Follow its installation instructions for your branch and ROS distribution.
2. Resolve the description
Keep the URDF together with its mesh files. Check package:// paths and preserve the original directory structure.
3. Inspect before simulation
Check the link tree and limits, then validate in your chosen simulator. Controllers and physics settings are separate.
Check your URDF