Template:SAH030BR028 Offsets and Directions (ROS)
#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 Hand' manufacturer: 'SimLab Co. Ltd.' origin: 'Seoul, South Korea' serial: 'SAH030BL030' version: 3.0 zero: encoder_offset: j00: 298 j01: 2272 j02: -787 j03: -21 j10: -263 j11: 1313 j12: -273 j13: -442 j20: -16 j21: 2085 j22: -69 j23: 843 j30: 738 j31: 961 j32: 951 j33: -206 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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