(Created page with "<pre> #SAH030BL030 #The YAML file used by the Allegro Hand Node is named "zero.yaml" hand_info: control_period_s: 0.003 DOF: 16 which_hand: 'left' robot_name: 'Allegro Ha...")
 
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<pre>
 
<pre>
#SAH030BL030
+
#SAH030BR028
 
#The YAML file used by the Allegro Hand Node is named "zero.yaml"
 
#The YAML file used by the Allegro Hand Node is named "zero.yaml"
  
Line 6: Line 6:
 
  control_period_s: 0.003
 
  control_period_s: 0.003
 
  DOF: 16
 
  DOF: 16
  which_hand: 'left'
+
  which_hand: 'Right'
 
  robot_name: 'Allegro Hand'
 
  robot_name: 'Allegro Hand'
 
  manufacturer: 'SimLab Co. Ltd.'
 
  manufacturer: 'SimLab Co. Ltd.'
 
  origin: 'Seoul, South Korea'
 
  origin: 'Seoul, South Korea'
  serial: 'SAH030BL030'
+
  serial: 'SAH030BR028'
 
  version: 3.0
 
  version: 3.0
  
 
zero:
 
zero:
 
  encoder_offset:
 
  encoder_offset:
   j00: 298
+
   j00: 699
   j01: 2272
+
   j01: 1654
   j02: -787
+
   j02: 5
   j03: -21
+
   j03: -464
   j10: -263
+
   j10: -47
   j11: 1313
+
   j11: 1640
   j12: -273
+
   j12: 325
   j13: -442
+
   j13: 687
   j20: -16
+
   j20: -361
   j21: 2085
+
   j21: 1161
   j22: -69
+
   j22: -259
   j23: 843
+
   j23: -510
   j30: 738
+
   j30: -1563
   j31: 961
+
   j31: 569
   j32: 951
+
   j32: 470
   j33: -206
+
   j33: -812
  
 
  encoder_direction:
 
  encoder_direction:

Revision as of 19:29, 3 September 2014

#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: 699
  j01: 1654
  j02: 5
  j03: -464
  j10: -47
  j11: 1640
  j12: 325
  j13: 687
  j20: -361
  j21: 1161
  j22: -259
  j23: -510
  j30: -1563
  j31: 569
  j32: 470
  j33: -812

 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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