allegro_pybind

A Python binding for controlling the Allegro Hand, heavily based on https://github.com/simlabrobotics/allegro_hand_linux_v4. The setup instructions are also borrowed from the original project.

Tested on:

• Ubuntu 20.04
• g++ 9.4.0
• cmake 3.16.3
• python 3.8.20

Required hardware

1. Allegro hand v4
2. PCAN-USB interface

Setup instructions

Prerequisites

1. PCAN-USB driver

Download, build, and install PCAN-USB driver for Linux "libpcan"

tar -xzvf peak-linux-driver-x.x.tar.gz
cd peak-linux-driver-x.x
make NET=NO
sudo make install

Troubleshooting

• If encounter

  src/pcan-settings.c:47:10: fatal error: popt.h: No such file or directory
     47 | #include <popt.h>
      |      	^~~~~~~~
  compilation terminated.

  Run

  sudo apt install libpopt-dev

2. libpcanbasic

Download, build, and install PCAN-Basic API for Linux: libpcanbasic

tar -xzvf PCAN_Basic_Linux-x.x.x.tar.gz
cd PCAN_Basic_Linux-x.x.x/pcanbasic
make
sudo make install

3. libBHand grasping library

Download, build, and install Grasping Library for Linux, "libBHand": Grasping_Library_for_Linux

unzip LibBHand_{32|64}.zip
cd libBHand_{32|64}
sudo make install
sudo ldconfig

Installation

Besides the dependencies mentioned above, ensure the following dependencies are installed before building the package:

• pybind11
• Eigen3

After installing the dependencies, you can build and install the package with:

pip install .

Usage

See example.py

TODO

• thread-safety