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: -1692
  j01: -454
  j02: -3623
  j03: 118
  j10: -1834
  j11: -1915
  j12: -68
  j13: 130
  j20: -3936
  j21: 1060
  j22: -3254
  j23: 470
  j30: 1248
  j31: -2385
  j32: -862
  j33: 2434

 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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