The contents of the file below are used by the Allegro Hand ROS Package to set zeros and offsets for your hand. zero.yaml:

#SAH030AR023
#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: 'SAH030AR023'
 version: 3.0

zero:
 encoder_offset:
  j00: -460
  j01: -64503
  j02: -534
  j03: -1417
  j10: -553
  j11: -65610
  j12: 343
  j13: -1003
  j20: 1268
  j21: -65468
  j22: -322
  j23: -514
  j30: -211
  j31: 526
  j32: -66265
  j33: -64878

 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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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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