Wrong robot model after attaching the allegro hand to a franka panda arm

[HilbertXu]

Which model is the issue affecting?
Franka panda: panda_nohand.xml
Allegro hand: right/left_hand.xml

What is the issue?
I tried to attach allegro hand to the panda arm with the code provided in the FAQ readme file, and export it as xml file with assets using the function here. This pipeline works fine and generates the xml file with both panda arm and allegro hand. However, when I tried to load the exported robot xml in Genesis simulator, I noticed that the allegro hand is not attached in the correct. It looks like the base of allegro hand is set to its palm ( see the attached screenshot). Could you please provide me with hints to address this issue?

Is there any additional context you can provide (e.g., a spec sheet or a URDF to show a value mismatch)?

[kevinzakka]

This isn't a bug. You'll most likely have to tweak the attachment frame (pos,quat) for different arm/hand pairs. Here is some reference code you can look at that I used in my IK library mink:

• Attaching leap to iiwa
• Attaching leap to xarm