Adapted from https://github.com/simlabrobotics/allegro_hand_linux_v4

This interface allows communication with a v4 Allegro hand via ZMQ on the NUC of a Panda Franka robotic arm.

1. Allegro hand v4
2. PCAN-USB interface

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

• 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

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

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

Build using cmake "out of source build" style.

cd allegro_zmq
mkdir build && cd build
cmake ..
make
make install

1. Connect PCAN-USB and Allegro Hand (connect to the NUC of franka robot)
2. Power on the Allegro Hand.
3. Start the grasping program: "grasp": build/bin/grasp on the NUC. You should see the configuration of your hand print out.

ws_control.py is an example code that runs on a workstation using Python. Make sure to replace localhost with the correct IP address of the NUC in this code.