Allegro Left Hand Configuration/URDF

[curieuxjy]

Hello — thanks for maintaining GeoRT!

Configuration

I found a small problem in the allegro_left configuration: the fingertip mapping appears to be mirrored incorrectly. The index fingertip is currently mapped to link_3.0_tip, but because the left hand is the mirrored version of the right hand, the index tip should be link_11.0_tip.

File / line
geort/config/allegro_left.json —

GeoRT/geort/config/allegro_left.json

Line 20 in fb2075e

"link": "link_3.0_tip",

What I observed (actual)

• Index is mapped to link_3.0_tip in the left-hand config, which causes the index and ring fingers to be swapped when using this config.

What I expect

• For the left hand (mirrored), fingertip links should match the mirrored indices: index → link_11.0_tip, middle → link_7.0_tip, ring → link_3.0_tip, thumb → link_15.0_tip.

Proposed fix
Replace the fingertip mapping in allegro_left.json with the configuration below (I tested this mapping locally and it produced the expected fingertip associations):

{
    "README!!": "Please see config/template.py for instructions. You can remove this in your config json",

    "name": "allegro_left",
    "urdf_path": "./assets/allegro_left/allegro_hand_left.urdf",

    "base_link": "base_link",

    "joint_order": [
        "joint_8.0", "joint_9.0", "joint_10.0", "joint_11.0",
        "joint_4.0", "joint_5.0", "joint_6.0", "joint_7.0",
        "joint_0.0", "joint_1.0", "joint_2.0", "joint_3.0",
        "joint_12.0", "joint_13.0", "joint_14.0", "joint_15.0"
    ],


    "fingertip_link": [
        {
            "name": "index",
            "link": "link_11.0_tip",
            "joint": ["joint_8.0", "joint_9.0", "joint_10.0", "joint_11.0"],
            "center_offset": [0.0, 0.0, -0.005],
            "human_hand_id": 8
        },

        {
            "name": "middle",
            "link": "link_7.0_tip",
            "joint": ["joint_4.0", "joint_5.0", "joint_6.0", "joint_7.0"],
            "center_offset": [0.0, 0.0, -0.005],
            "human_hand_id": 12
        },

        {
            "name": "ring",
            "link": "link_3.0_tip",
            "joint": ["joint_0.0", "joint_1.0", "joint_2.0", "joint_3.0"],
            "center_offset": [0.0, 0.0, -0.005],
            "human_hand_id": 16
        },

        {
            "name": "thumb",
             "link": "link_15.0_tip",
            "joint": ["joint_12.0", "joint_13.0", "joint_14.0", "joint_15.0"],
            "center_offset": [0.0, 0.0, -0.005],
            "human_hand_id": 4
        }
    ]
}

URDF

When I rendered the left hand, the base_link frame was not aligned with the orientation specified in template.py.

    # 1. Fill in the hand base_link name specified by your urdf. 
    # 2. Please refer to the doc (or below) for the base link orientation convention.
    #    Y: center of palm to the thumb. Z: center of palm to the middle finger. X: normal of palm. <--- This point is not matched to LEFT HAND

    # 3. If your base link uses a different orientation:
    #    you can add a virtual base_link and joint to your urdf, and change this to the new virtual base_link.

These are screenshots of the left hand:

If this looks correct to you, I can open a small PR that updates the file and adds a brief test/visual check. Otherwise, please let me know if I misunderstood how these link names are intended to map.

Thanks again — great repo and happy to help!

[zhaohengyin]

Thanks for the update, and apologies for the late reply. Yes, we’d be happy to integrate this.

[goodfor7]

Hello — thanks for maintaining GeoRT!

Configuration

I found a small problem in the allegro_left configuration: the fingertip mapping appears to be mirrored incorrectly. The index fingertip is currently mapped to link_3.0_tip, but because the left hand is the mirrored version of the right hand, the index tip should be link_11.0_tip.

File / line geort/config/allegro_left.json —

GeoRT/geort/config/allegro_left.json

Line 20 in fb2075e

"link": "link_3.0_tip",
What I observed (actual)

• Index is mapped to link_3.0_tip in the left-hand config, which causes the index and ring fingers to be swapped when using this config.

What I expect

• For the left hand (mirrored), fingertip links should match the mirrored indices: index → link_11.0_tip, middle → link_7.0_tip, ring → link_3.0_tip, thumb → link_15.0_tip.

Proposed fix Replace the fingertip mapping in allegro_left.json with the configuration below (I tested this mapping locally and it produced the expected fingertip associations):

{
"README!!": "Please see config/template.py for instructions. You can remove this in your config json",

"name": "allegro_left",
"urdf_path": "./assets/allegro_left/allegro_hand_left.urdf",

"base_link": "base_link",

"joint_order": [
    "joint_8.0", "joint_9.0", "joint_10.0", "joint_11.0",
    "joint_4.0", "joint_5.0", "joint_6.0", "joint_7.0",
    "joint_0.0", "joint_1.0", "joint_2.0", "joint_3.0",
    "joint_12.0", "joint_13.0", "joint_14.0", "joint_15.0"
],


"fingertip_link": [
    {
        "name": "index",
        "link": "link_11.0_tip",
        "joint": ["joint_8.0", "joint_9.0", "joint_10.0", "joint_11.0"],
        "center_offset": [0.0, 0.0, -0.005],
        "human_hand_id": 8
    },

    {
        "name": "middle",
        "link": "link_7.0_tip",
        "joint": ["joint_4.0", "joint_5.0", "joint_6.0", "joint_7.0"],
        "center_offset": [0.0, 0.0, -0.005],
        "human_hand_id": 12
    },

    {
        "name": "ring",
        "link": "link_3.0_tip",
        "joint": ["joint_0.0", "joint_1.0", "joint_2.0", "joint_3.0"],
        "center_offset": [0.0, 0.0, -0.005],
        "human_hand_id": 16
    },

    {
        "name": "thumb",
         "link": "link_15.0_tip",
        "joint": ["joint_12.0", "joint_13.0", "joint_14.0", "joint_15.0"],
        "center_offset": [0.0, 0.0, -0.005],
        "human_hand_id": 4
    }
]

}

URDF

When I rendered the left hand, the base_link frame was not aligned with the orientation specified in template.py.

    # 1. Fill in the hand base_link name specified by your urdf. 
    # 2. Please refer to the doc (or below) for the base link orientation convention.
    #    Y: center of palm to the thumb. Z: center of palm to the middle finger. X: normal of palm. <--- This point is not matched to LEFT HAND

    # 3. If your base link uses a different orientation:
    #    you can add a virtual base_link and joint to your urdf, and change this to the new virtual base_link.

These are screenshots of the left hand:

If this looks correct to you, I can open a small PR that updates the file and adds a brief test/visual check. Otherwise, please let me know if I misunderstood how these link names are intended to map.

Thanks again — great repo and happy to help!

@curieuxjy Hi!

I am currently attempting to apply the GeoRT method to the Five-Finger Dexterous Hand. I have now successfully implemented teleoperation for the right hand. If I wish to apply this method to the left hand as well, what modifications would be required? I tried collecting left-hand human data myself, modifying the JSON file, and conducting training, but the human hand movements and dexterous hand movements cannot be aligned.

[curieuxjy]

@goodfor7
Hello, I hope this reply isn't too late!
When I applied the algorithm to the left hand, I simply had to make sure the finger order was correctly mapped. More specifically, GeoRT trains each finger independently with separate MLPs, so as long as you verify that the human fingertip order matches the robot's joint data, it should work without any issues. If you're curious about the left-hand adaptation,
please check our documentation at
https://github.com/Wonikrobotics-git/allegro_hand_teleoperation/blob/main/GLOVE_BASED.md#method-2-geort-based-retargeting.

[goodfor7]

Thank you for your reply. I’ve implemented that before.