LEAP Hand In-Hand Reorientation

Xuhang Ye LEAP Hand robot learning project

Tech Report Code Videos 中文

Simulation and ROS2 hardware demos

Video pending /assets/projects/leap-hand-inhand-reorientation/videos/sim_reorientation.mp4

Simulation Cube reorientation policy rollout in Isaac Lab.

Video pending /assets/projects/leap-hand-inhand-reorientation/videos/real_reorientation_ros2.mp4

Real hardware, ROS2 LEAP Hand cube reorientation deployed through the ROS2 hardware path.

A single-axis in-hand cube reorientation project on the LEAP Hand. The policy is trained in Isaac Lab with rl_games PPO, proprioceptive observations, and domain randomization, then deployed to real hardware through the ROS2 control path.