This project entails implementing diffusion policy based BC on the avatar platform.
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Install Bazel from here
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Run
bazel build //...
in the root directory of the project. Depending on your OS focal or jammy, export the rightenv
variable viaexport ROS2_DISTRO_PREFIX=/opt/ros/rolling
for focalexport ROS2_DISTRO_PREFIX=/opt/ros/humble
for jammy- You could also just pull in ros2 archives in focal or jammy. Look at the commented blocks in
WORKSPACE
in the root of the repo.
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Run
bazel run //simulate:avatar_simple_py
to run the avatar simulation with just one arm. For two, usebazel run //simulate:avatar_dual_arm_py
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In case of issues, try running the test via
bazel test //...
- Turning the system on and other checks (Water/Air Pressure) Youtube Video Link (unlisted)
- Documentation for running the software - https://avatar-wiki.readthedocs.io/en/latest/instructions.html
All the configs live here. Since everything is consolidated into one workstation it makes sense to keep stuff backed up and organized.