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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

  1. Create Virtual Environment
conda create -n piper python=3.8 -y
  • Install Alicia_duo_sdk and piper_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