Template:SAH030AR023 Offsets and Directions (ROS)
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
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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