Avatar Behavior Cloning

Introduction

This project entails implementing diffusion policy based BC on the avatar platform.

Installation

1. Install Bazel from here

2. Run bazel build //... in the root directory of the project. Depending on your OS focal or jammy, export the right env variable via

   • export ROS2_DISTRO_PREFIX=/opt/ros/rolling for focal
   • export 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.

3. Run bazel run //simulate:avatar_simple_py to run the avatar simulation with just one arm. For two, use bazel run //simulate:avatar_dual_arm_py

4. In case of issues, try running the test via bazel test //...

How to videos for running the hardware -

• 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

Coupling Control Flow Diagram

ROS2 Avatar Repos

• rdda_avatar
• rdda_interface_types
• smarty_arm_interface
• smarty_arm_msg

All the configs live here. Since everything is consolidated into one workstation it makes sense to keep stuff backed up and organized.