Agile Leader Arm Teleoperation Extension Examples
1. Songlin PiPER Teleoperation Example
Note:
This example demonstrates how to use the Agile Leader Arm for real-time teleoperation of a Songlin PiPER. Please note: All rights, responsibilities, and copyrights related to Songlin PiPER products belong to Songlin Robotics Company.
1.1 Wiring Method
(To be updated)
1.2 Robotic Arm Zeroing
1.2.1 Songlin PiPER Zeroing
Set the robotic arm zero position as follows:
1.2.2 XuanYa Agile Leader Arm Zeroing
Position the leader arm pose close to the Songlin zero point for zeroing.
1.3 Installation and Configuration
- Create Virtual Environment
conda create -n piper python=3.8 -y
- Install
Alicia_duo_sdk
andpiper_sdk
Refer to the following links to install the respective SDK libraries:
https://github.com/Xuanya-Robotics/Alicia_duo_sdk/blob/main/docs/installation.md
https://github.com/agilexrobotics/piper_sdk?tab=readme-ov-file
1.4 Teleoperation
Run the following code to implement Alicia Duo leader arm teleoperation of the Piper follower arm.
cd ~/Alicia_duo_sdk/example
python alicia_tele_piper.py
1.5 Video Demonstration
To be added