Examples for using PyRobot API to control Allegro Hand

This tutorials assumes that you have installed PyRobot already using the official instructions.

Note

This tutorial has been tested to work with the following setup,

1. Allegro hand V4.0
2. PEAk PCAN-USB FD adaptor
3. Ubuntu 16.04 with Kernel 4.15
4. Peak pcan driver 8.9.3
5. ROS-Kinetic
6. Python3.6

Setting up the hardware

Please wire the Allgero hand and the PCAN-USB FD adator using these (insturctions)[http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Wiring_for_Allegro_Hand_v4.0] More instructions on trouble shooting the hardware are available here. (http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand_v4.0)

Setting up the Allegro Hand software

1. Intall these packages

sudo apt-get install libpopt-dev ros-kinetic-libpcan

2. Download the peak pcan driver v8.9.3 from (here)(http://www.peak-system.com/fileadmin/media/linux/version-history.html)

Install the drivers:

make clean; make NET=NO_NETDEV_SUPPORT
sudo make install
sudo /sbin/modprobe pcan

Test that the interface is installed properly with:

 cat /proc/pcan

You should see some stuff streaming.

When the hnd is connected to the computer using the PCA-USB FD adaptor, you should see pcanusb0 or pcanusb1 or pcanusb32 in the list of avaiable interfaces:

ls -l /dev/pcan*

3. Setup the Allegro hand ros packages,

mkdir -p ~/allegro_hand_ws/src # feel free to change the directory location to your convenience
cd ~/allegro_hand_ws/src
git clonehttps://github.com/kalyanvasudev/allegro_hand_ros_v4.git
cd ~/allegro_had_ws
catkin_make

##Running the examples

1st terminal,

source ~/allegro_had_ws/devel/setup.bash
roslaunch roslaunch allegro_hand allegro_hand.launch HAND:=left AUTO_CAN:=false CAN_DEVICE:=/dev/pcan32 JSP_GUI:=false CONTROLLER:=grasp 
# Note that CAN_DEVICE should be set as per the output of ls -l /dev/pcan*

2nd terminal,

load_pyenv_pyrobot 
python allegro_hand_example.py