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: 699 j01: 1654 j02: 5 j03: -464 j10: -47 j11: 1640 j12: 325 j13: 687 j20: -361 j21: 1161 j22: -259 j23: -510 j30: -1563 j31: 569 j32: 470 j33: -812 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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