DEXTEROUS MANIPULATION
Compare hardware. Discover applications. Share what works. An open reference and community for dexterous manipulation.
Active / total DOF: 16 / 16
Servo position, velocity, current, voltage and temperature; no tactile skin standard
Curated public references, checked 2026-09-22. Links describe a model or family relationship, not hardware-tested compatibility.
DexSuite · Family resource
Research-maintained visual and collision models for multiple hand families.
Inspect the model directory and upstream asset license; revision, size and sensor geometry may differ from your hand.
DexSuite · Family resource
Human-to-robot motion optimizers with configurations for the listed hand families.
Retargeting generates joint targets; it is not a device driver. Verify model geometry and joint order.
LEAP Hand · Model-specific
Python, C++, ROS and ROS 2 interfaces for the original LEAP Hand.
For v1 hardware. LEAP v2 Standard and Advanced use separate repositories.
LEAP Hand · Model-specific
Simulation and learning environment for LEAP Hand v1.
Check the required Isaac Lab release and v1 hardware configuration.
LEAP Hand · Model-specific
Original v1 simulation code accompanying the LEAP Hand project.
Uses the older Isaac Gym stack; it is distinct from the Isaac Lab implementation.
LEAP Hand / Bimanual Dexterity · Research use
Glove-based control examples for LEAP Hand experiments.
Gloves, calibration and the specified robot setup are required.
DexCap authors · Research use
Motion capture processing, LEAP retargeting and demonstration dataset tools.
The project uses its own capture rig and robot setup; raw human motion needs retargeting.
