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Kinova Arm Controller - Noetic

This repository contains the information to setup the ROS Noetic based controller part of DIME to control the Kinova Arm. We would advice you to install the Kinova SDK and run the setup.sh file in the base repository for convenience and use this as a debugging tool. The base repo containing all the information can be found at DIME - Models.

Contents

1. Requirements
2. Launching the Controller

Installation Requirements <a name="requirements"></a>

1. Kinova SDK
2. Kinova JACO Arm

Installing the Kinova SDK

We need to setup the Kinova SDK before we make the C binaries for the controller. You can download the SDK from https://drive.google.com/u/0/uc?id=1UEQAow0XLcVcPCeQfHK9ERBihOCclkJ9&export=download. You should be able make the controller binaries and run the controller after this step.

Launching the Controller <a name="launch-controller"></a>

After installing the Kinova SDK, it is advised to run the setup.sh from the base repository to setup the environment. But, you can also run catkin_make from the base directory (where you have both - Kinova JACO arm controller and Allegro Hand controller). Do the following from this directory:

cd <base-controller-dir>
catkin_make

After you make the binaries, you need to source the setup files using the below command:

source <base-controller-dir>/devel/setup.bash

Then you can launch the Kinova Arm's roslaunch file to start controlling the robot.

roslaunch kinova_arm kinova_robot.launch

Citation

If you use this repo in your research, please consider citing the paper as follows:

@article{arunachalam2022dime,
  title={Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation},
  author={Sridhar Pandian Arunachalam and Sneha Silwal and Ben Evans and Lerrel Pinto},
  journal={arXiv preprint arXiv:2203.13251},
  year={2022}
}