# Allegro Hand Right with Touch Sensing Robot UID: `allegro_hand_right_touch` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/allegro_hand/allegro_touch.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/allegro_hand/allegro_touch.py) Quality: B (Stable, but some values are unrealistic) Degrees of Freedom: 16 Controllers: `pd_joint_delta_pos`, `pd_joint_pos`, `pd_joint_target_delta_pos` ## Visuals and Collision Models
allegro_hand_right_touch allegro_hand_right_touch

Visual Meshes


allegro_hand_right_touch allegro_hand_right_touch

Collision Meshes (Green = Convex Mesh, Blue = Primitive Shape Mesh)