Leader Arm Teleoperation Extension Examples

1. AgileX PiPER Teleoperation Example

Description

This example demonstrates how to use the Alicia-DL Leader Arm (Alicia-D Leader) to perform real-time teleoperation of an AgileX PiPER robotic arm.

All rights, responsibilities, and copyrights related to the AgileX PiPER products belong to AgileX Robotics.

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1.1 Wiring

Connect both the Alicia-DL Leader Arm and the PiPER robotic arm to the same computer via USB.

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1.2 Zero Calibration

1.2.1 AgileX PiPER Zero Calibration

Place the PiPER robotic arm in the following zero position:

1.2.2 Xuanya Alicia-DL Leader Arm Zero Calibration

Place the Leader Arm in a pose close to the PiPER zero position, then perform zero calibration (refer to the 02_demo_zero_calibration.py example in the Alicia-DL Leader Arm Python SDK):

Note

Before zero calibration, ensure both arms are in as similar a pose as possible; otherwise, joint mapping deviation may occur during teleoperation.

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1.3 Installation and Configuration

Step 1: Create a Virtual Environment

conda create -n piper python=3.8 -y
conda activate piper

Step 2: Install alicia_d_sdk

Install the Alicia-DL Leader Arm Python SDK v6.1.0, and modify the corresponding API interfaces by referencing the teleoperation demo from the Alicia-D-SDK v5.4.0-deprecated branch.

Resource	Link
Teleoperation Example Code	alicia_tele_piper.py
SDK API Reference	api_reference.md

Step 3: Install AgileX piper_sdk

Install according to the official AgileX repository:

GitHub: agilexrobotics/piper_sdk