Piper Robot Server

Installation

Prerequisites

1. Robot Hardware: One or two AgileX Piper arms
2. Conda Environment: Miniconda or Anaconda (required for pinocchio from conda-forge)
3. Python Environment: Python 3.10 (managed by conda)
4. VR Setup (optional): Meta Quest or other headset with WebXR support (no app installation needed!)

Package Installation

Install tactile-teleop with conda environment setup:

# Clone the repository

# Create and activate conda environment
conda create -n piper python=3.10
conda activate piper

# Install teleop sdk
git clone git@github.com:TactileRoboticsAI/tactile-teleop-python-sdk.git
cd tactile-teleop-python-sdk
pip install -e .

# Install piper server
cd ..
git clone git@github.com:ETHRoboticsClub/piper-robot-server.git
cd piper-robot-server
pip install -e .
micromamba install pinocchio==3.2.0 casadi==3.6.7 -c conda-forge

Run the robot server:

robotserver

Without the physical robot and with update to meshcat visualizer:

robotserver --no-robot --vis