This document provides instructions on how to deploy a trained policy on the real AllegroHand.
This section provides instruction for installing ROS. Note that there are varies ways of installing ROS. Since this project is developed using Ubuntu 22.04, which is not officially supported by ROS. During the development of this project, we install ros from robostack. It's ok to ignore this section if you already have a working ROS library setup.
The following instructions are copied from robostack. We assume you have a miniconda or conda environment installed.
First, install mamba in the base environment.
# if you don't have mamba yet, install it first in the base environment (not needed when using mambaforge):
conda install mamba -c conda-forge
Then, install rosallegro conda environment. Note that his rosallegro environment is different from what we used to train the policy. This is mainly to solve possible conflicts between ros and varies packages we used (e.g. pytorch).
mamba create -n rosallegro ros-noetic-desktop python=3.9 -c robostack -c robostack-experimental -c conda-forge --no-channel-priority --override-channels
conda activate rosallegro
Finally, follow the instructions at ros-allegro repository to set up the ROS package and the PCAN driver.
First, you need to open a shell and launch the following script:
# may need to change /dev/pcanusbfd32 to your customized values
roslaunch allegro_hand allegro_hand.launch HAND:=right AUTO_CAN:=false CAN_DEVICE:=/dev/pcanusbfd32 KEYBOARD:=false CONTROLLER:=pd
Once it's launched, run the following command in the hora conda environment to control the robot hand.
# e.g. scripts/deploy.sh hora
conda activate hora
scripts/deploy.sh ${OUTPUT_NAME}