(Which Hand?)
(Virtual Hand Simulation)
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Selection either virtual hand system at the Allegro Application Studio (AAS) hand selection prompt will load the AAS dynamics simulation environment and a virtual hand model. The simulation begins running as soon as the AAS simulation window is loaded.
 
Selection either virtual hand system at the Allegro Application Studio (AAS) hand selection prompt will load the AAS dynamics simulation environment and a virtual hand model. The simulation begins running as soon as the AAS simulation window is loaded.
  
[[image:AllegroVirtualHand.jpg]]<br><br>
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[[image:AllegroVirtualHand.jpg|400px]]<br><br>
  
 
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Revision as of 15:01, 5 October 2012

Contents

Running AAS

When installing Allegro Application Studio (AAS), you were promted to select an installation path where are files associated with AAS would be stored. This installation path with be referred to as [installPath] from here on out.

Within the installation directory (at the top level), you will find a file titled Allegro.exe file. Also, a shortcut to this executable should have been placed on your desktop during installation. Double-click Allegro.exe to launch AAS for the Allegro Hand.

AllegroIcon.jpg

Which Hand?

When you first run Allegro Application Studio (AAS), you are promted to select the hand (right/left and actual/virtual) you would like to use.

HandSelection.jpg

Actual

Actual System refers to the Allegro Hand hardware. If an actual system is selected, AAS will load the corresponding (left/right) virtual model and open CAN communication with the actual Allegro Hand. The virtual Allegro Hand seen along with the Actual System simply mimics the joint kinematics (no physics or contact dynamics) of the actual system based on the encoder values obtained over CAN. Motion commands from AAS are send directly to the Actual System while the encoder feedback controls the AAS virtual hand.

Virtual

If a virtual system is selected, a dynamic simulation is run using the Allegro Hand virtual model. This simulation includes full physics simulation including contact dynamics. The virtual system can be simulated without the actual system. This ability is useful for testing algorithms in a dynamics environment before trying them out of the actual hardware.

First, we will select the Virtual Left Hand System and click Finish to start the simulation.

Virtual Hand Simulation

Selection either virtual hand system at the Allegro Application Studio (AAS) hand selection prompt will load the AAS dynamics simulation environment and a virtual hand model. The simulation begins running as soon as the AAS simulation window is loaded.

AllegroVirtualHand.jpg

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