Difference between revisions of "Okamura:Allegro Hand"

Latest revision as of 14:06, 25 June 2019

Serial Number: SAH030H059R (Right, v3.0)

[edit] Getting Started

More information is accessible using the navigation bar at the top of the page.

[edit] Allegro Hand Application Studio (AHAS)

[edit] AHAS Download

Allegro Hand Application Studio (License removal version)

Below you can download Allegro Hand Application Studio for your Allegro Hand.
In this version, the license is removed so you can execute AHAS immediately after installation.
And the slider section has been removed.
Please refer to Allegro Application Studio (Installation) for installation instructions.

setup_AllegroHand_1.14.2_b18020101.zip (for AH v3.0)

Note: This AHAS installation is not yet configured for your hand. See DMLs section below before installing.

[edit] DMLs

DML files used in Allegro Hand Application Studio (AHAS) contain joint offsets and directions and are specific to each hand.

After Installing AHAS, please locate and download the DML files for your hand below (according to your hand's serial number). Replace the files of the same name in the 'devices' directory (below) with the files downloaded from the wiki.

C:\Program Files\Wonik Robotics\Allegro Hand Application Studio\bin\models\Etc\AllegroHand\devices

If you chose an installation directory other than the default when installing, you can find your DMLs here:

[Installation Location]\Allegro Hand Application Studio\bin\models\Etc\AllegroHand\devices

Download DMLs for your hand: File:20190625 SAH030H059R.zip

[edit] RoboticsLab Project

See the Allegro Hand RoboticsLab Project page for source code and documentation.

[edit] Visual Studio Project

Note: This software does not require RoboticsLab.

See the Allegro Hand MSVS Project page for source code and documentation.

[edit] Offsets and Directions

[edit] SAH030H059R (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	-438	+	+
0	1	-4948	+	+
0	2	-8798	+	+
0	3	-2805	+	+
1	0	510	+	+
1	1	-10212	+	+
1	2	-8232	+	+
1	3	5941	+	+
2	0	-7	+	+
2	1	1329	+	+
2	2	-7662	+	+
2	3	-10651	+	+
3	0	158	+	+
3	1	-2881	+	+
3	2	-10826	+	+
3	3	-13477	+	+

Template:SAH030H059R Offsets and Directions (ROS)

#SAH030H059R
#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: 'Wonikrobotics Co. Ltd.'
 origin: 'Seoul, South Korea'
 serial: 'SAH030H059R'
 version: v3.0

zero:
 encoder_offset:
  j00: -438
  j01: -4948
  j02: -8798
  j03: -2805
  j10: 510
  j11: -10212
  j12: -8232
  j13: 5941
  j20: -7
  j21: 1329
  j22: -7662
  j23: -10651
  j30: 158
  j31: -2881
  j32: -10826
  j33: -13477

 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

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@@ Line 12: / Line 12: @@
 {{AHAS Latest Version}}
 {{alert success header}}
-*'''Download DMLs for your hand: ''' [[File:SAH030H059R DMLs.zip]]
+*'''Download DMLs for your hand: ''' [[File:20190625_SAH030H059R.zip]]
 {{alert success footer}}