Offsets and Directions

SAH030C033R (Right)

Note: These are the offsets and directions for your Allegro Hand

Finger Joint Encoder Offsets
encoder_offset
Encoder Directions
encoder_direction
Motor Directions
motor_direction
0 0 -1591 + +
0 1 -277 + +
0 2 545 + +
0 3 168 + +
1 0 -904 + +
1 1 53 + +
1 2 -233 + +
1 3 -1476 + +
2 0 2 + +
2 1 -987 + +
2 2 -230 + +
2 3 -106 + +
3 0 -1203 + +
3 1 361 + +
3 2 327 + +
3 3 565 + +


Template:SAH030C033R Offsets and Directions (ROS)





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Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2020 Wonik Robotics Co., Ltd. All rights reserved. RoboticsLab and Allegro are trademarks of Wonik Robotics. All other trademarks or registered trademarks mentioned are the properties of their respective owners.

Wonik Robotics's Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).

Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804

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