Template:SAH030BR028 Offsets and Directions (ROS)
#SAH030BR028 #The YAML file used by the Allegro Hand Node is named "zero.yaml" hand_info: control_period_s: 0.003 DOF: 16 which_hand: 'Right' robot_name: 'Allegro Hand' manufacturer: 'SimLab Co. Ltd.' origin: 'Seoul, South Korea' serial: 'SAH030BR028' version: 3.0 zero: encoder_offset: j00: 908 j01: 920 j02: 120 j03: 101 j10: -628 j11: 1067 j12: 43 j13: 608 j20: -47 j21: 1821 j22: -163 j23: -14 j30: -2203 j31: 249 j32: 39 j33: -1438 encoder_direction: j00: +1 j01: +1 j02: +1 j03: +1 j10: +1 j11: +1 j12: +1 j13: +1 j20: +1 j21: +1 j22: +1 j23: +1 j30: +1 j31: +1 j32: +1 j33: +1 motor_direction: j00: +1 j01: +1 j02: +1 j03: +1 j10: +1 j11: +1 j12: +1 j13: +1 j20: +1 j21: +1 j22: +1 j23: +1 j30: +1 j31: +1 j32: +1 j33: +1
Copyright & Trademark Notice
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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