├── LICENSE ├── README.md └── src ├── CMakeLists.txt ├── allegro_hand ├── CMakeLists.txt ├── launch │ ├── allegro_hand.launch │ └── allegro_viz.launch ├── package.xml └── src │ ├── allegro_hand_grasp.cpp │ ├── allegro_hand_grasp.h │ ├── allegro_hand_joint_pd.cpp │ ├── allegro_hand_joint_pd.h │ ├── allegro_hand_joint_torque.cpp │ ├── allegro_hand_joint_torque.h │ ├── allegro_hand_joint_velsat.cpp │ ├── allegro_hand_joint_velsat.h │ ├── allegro_hand_node.cpp │ ├── allegro_hand_node.h │ ├── allegro_hand_sim.cpp │ ├── allegro_hand_sim.h │ ├── allegro_hand_uname.cpp │ ├── allegro_hand_uname.h │ ├── allegro_hand_visualizer.cpp │ └── allegro_hand_visualizer.h ├── allegro_hand_controllers ├── CMakeLists.txt ├── launch │ ├── allegro_hand.launch │ └── allegro_viz.launch ├── package.xml └── src │ ├── allegro_node.cpp │ ├── allegro_node.h │ ├── allegro_node_grasp.cpp │ ├── allegro_node_grasp.h │ ├── allegro_node_pd.cpp │ ├── allegro_node_pd.h │ ├── allegro_node_sim.cpp │ ├── allegro_node_sim.h │ ├── allegro_node_torque.cpp │ ├── allegro_node_torque.h │ ├── allegro_node_velsat.cpp │ └── allegro_node_velsat.h ├── allegro_hand_description ├── CMakeLists.txt ├── README.txt ├── allegro_hand_config.rviz ├── allegro_hand_config.vcg ├── allegro_hand_description_left.urdf ├── allegro_hand_description_left.xacro ├── allegro_hand_description_right.urdf ├── allegro_hand_description_right.xacro ├── allegro_hand_description_right_.urdf ├── allegro_hand_left.pdf ├── allegro_hand_right.pdf ├── build_desc.sh ├── meshes │ ├── allegro.tar.gz │ ├── allegro.zip │ ├── base_link.STL │ ├── base_link_left.STL │ ├── link_0.0.STL │ ├── link_1.0.STL │ ├── link_12.0_left.STL.bk │ ├── link_12.0_right.STL │ ├── link_12.0_right.STL.bk │ ├── link_13.0.STL │ ├── link_14.0.STL │ ├── link_15.0.STL │ ├── link_15.0_tip.STL │ ├── link_15.0_tip.STL.bk │ ├── link_2.0.STL │ ├── link_3.0.STL │ ├── link_3.0_tip.STL │ ├── link_3.0_tip.STL.bk │ ├── link_4.0.STL │ └── temp │ │ └── link_12.0_right.STL ├── package.xml ├── scripts │ └── detect_pcan.py ├── temp │ └── allegro_hand_description_right.xacro ├── urdf │ └── allegro_hand_description_right.urdf └── worlds │ └── allegro.world ├── allegro_hand_driver ├── CMakeLists.txt ├── include │ └── allegro_hand_driver │ │ ├── AllegroHandDef.h │ │ └── AllegroHandDrv.h ├── package.xml └── src │ ├── AllegroHandDrv.cpp │ └── candrv │ ├── candef.h │ ├── candrv.h │ └── pcan.cpp ├── allegro_hand_keyboard ├── CMakeLists.txt ├── package.xml └── src │ ├── allegro_hand_keyboard.cpp │ └── virtualkey_codes.h ├── allegro_hand_parameters ├── CMakeLists.txt ├── gains_pd.yaml ├── gains_velSat.yaml ├── initial_position.yaml ├── package.xml ├── temp │ ├── 77R.yaml │ ├── 78R.yaml │ ├── zero_hyundai.yaml │ ├── zero_telexistence.yaml │ └── zero_test.yaml ├── zero.yaml └── zero_files │ ├── zero_SAH01010002.yaml │ ├── zero_SAH01020003.yaml │ ├── zero_SAH01020004.yaml │ ├── zero_SAH01020005.yaml │ ├── zero_SAH01020006.yaml │ ├── zero_SAH020AL011.yaml │ ├── zero_SAH020AR007.yaml │ ├── 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