View source for Template:SAH030BR028 Offsets and Directions (ROS) ← Template:SAH030BR028 Offsets and Directions (ROS)

<pre>
#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: 908
  j01: 920
  j02: 120
  j03: 101
  j10: -628
  j11: 1067
  j12: 43
  j13: 608
  j20: -47
  j21: 1821
  j22: -163
  j23: -14
  j30: -2203
  j31: 249
  j32: 39
  j33: -1438

 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
</pre>