Wonik-Robotics/allegro_inhand_rotation

Allegro Hand In-Hand Rotation - Grasp Pose Dataset

This dataset contains pre-generated grasp poses for the Allegro Hand V4 platform, designed for in-hand object rotation tasks using the HORA (In-Hand Object Rotation via Rapid Motor Adaptation) algorithm.

Dataset Description

This dataset provides reliable initial grasp configurations for various object geometries (Ball, Cylinder, Cube, etc.) used in training and evaluating in-hand manipulation policies with the Allegro Hand.

Dataset Contents

The dataset consists of grasp pose cache files stored as NumPy arrays (.npy format):

• Pre-computed stable grasp configurations for multiple object types
• Optimized for both right and left Allegro Hand V4 configurations
• Generated through simulation-based grasp quality evaluation

File Structure

cache/
├── [object_type]_[hand_type]_grasp_poses.npy
└── ...

Usage

⚠️ Important: This dataset is designed to be used with the main repository. For complete setup, training, and deployment instructions, please refer to:

👉 Wonikrobotics-git/allegro_inhand_rotation

Quick Setup

1. Clone the main repository:

   git clone https://github.com/Wonikrobotics-git/allegro_inhand_rotation.git
   cd allegro_inhand_rotation
   

2. Download this dataset and extract the cache/ folder into the project root:

   allegro_inhand_rotation/
   ├── cache/              # This dataset
   ├── configs/
   ├── hora/
   └── ...
   

3. Follow the main repository README for:

   • Environment setup (Isaac Gym, ROS 2)
   • Training procedures
   • Simulation testing
   • Real-world deployment

Generating Custom Grasp Poses

You can also generate grasp poses from scratch. Refer to the "Generate Grasping Poses" section in the main repository for detailed instructions.

Related Resources

• Main Repository: allegro_inhand_rotation
• Hardware Controller: allegro_hand_ros2
• Original Algorithm: HORA by Haozhi Qi

System Requirements

• Compatible with Allegro Hand V4 (Right and Left)
• Designed for use with Isaac Gym 4.0 simulator
• Supports ROS 2 Humble for real-world deployment

Citation

If you use this dataset in your research, please cite:

@misc{allegro_inhand_rotation_dataset,
  title={Allegro Hand In-Hand Rotation Grasp Pose Dataset},
  author={Wonik Robotics},
  year={2025},
  howpublished={\url{https://huggingface.co/datasets/Wonik-Robotics/allegro_inhand_rotation}}
}

And the original HORA work:

@article{qi2022hora,
  title={In-Hand Object Rotation via Rapid Motor Adaptation},
  author={Qi, Haozhi and Kumar, Ashish and Calandra, Roberto and Ma, Yi and Malik, Jitendra},
  journal={arXiv preprint arXiv:2210.04887},
  year={2022}
}

License

This dataset is released under the MIT License.

• Dataset by Wonik Robotics (© 2025)

Contact & Support

For questions or issues:

• Open an issue in the main repository
• Visit Wonik Robotics