A1Z-T Dual-arm Isomorphic Teleoperation Device
This mannul provides a detailed guide to mounting, cable connection, and button operation of the A1Z-T teleoperation device.
A1Z-T is an isomorphic teleoperation device designed for robotic arm data collection scenarios. It can form a master-slave teleoperation system with the LEMO dual-arm desktop operation platform, helping developers quickly collect high-quality robotic arm operation data and providing reliable data support for imitation learning and embodied intelligence application development.
Note: The teleoperation device is optional.
1. Packing List
| Item | Quantity | Unit | Remarks (Purpose) |
|---|---|---|---|
| A1Z-T teleoperation device single-arm body | 2 | Set | The master arm isomorphic to the robotic arm |
| G-clamp | 2 | PCS | Used to fix A1Z-T to the desktop |
| LEMO communication box | 1 | PCS | Used for communication between A1Z-T and LEMO |
| Adapter cable (short) | 1 | Cable | Used to connect the LEMO communication box to the right arm 3PIN interface |
| Adapter cable (long) | 1 | Cable | Used to connect the LEMO communication box to the left arm 3PIN interface |
| LEMO adapter cable | 1 | Cable | Used to connect the LEMO communication box to the LEMO-CCU control box |
2. Installation and Connection
2.1 Fix A1Z-T
Place A1Z-T on a flat, stable desktop, and adjust the dual-arm installation positions and spacing according to actual needs (recommended spacing 35 cm, center distance 42 cm). After confirming A1Z-T fits the desktop, fix it with the supplied G-clamps to ensure it does not move or shake during operation.
2.2 LEMO Communication Box Installation
Magnetically attach the LEMO communication box to the right A1Z-T master arm.
2.3 Cable Connection
Use the adapter cable (short) to connect the LEMO communication box (upper right port) → right arm 3PIN interface; use the adapter cable (long) to connect the LEMO communication box (upper left port) → left arm 3PIN interface; use the LEMO adapter cable to connect the LEMO communication box (lower port) → LEMO-CCU control box.
3. A1Z-T Button Function Introduction
The currently available button functions of A1Z-T are shown in the table below. The remaining buttons are reserved for user secondary development, such as controlling the robotic arm end motion through the joystick or customizing robot working states through switches. The relevant extension interfaces will be available after development is complete, so stay tuned.
| Button | Corresponding Function | Remarks |
|---|---|---|
| Right button | Start/end teleoperation | When not recording, the first press starts teleoperation; teleoperation cannot be stopped during recording, and you need to end recording first, then press again to stop teleoperation. Ending teleoperation will make LEMO automatically return to zero. |
| Left button | Start/end data recording | When teleoperation has started, the first press starts recording, and the second press ends recording and saves the previously recorded data; recording cannot be started when teleoperation is not enabled. |
| Simultaneous left and right button press | Discard current data | When teleoperation is enabled and recording is in progress, pressing both the left and right buttons simultaneously can discard the data recorded this time. |
| Left/right index finger trigger | Left/right gripper opening/closing | Moving the index finger outward controls the gripper to open, and moving the index finger inward controls the gripper to close. |
| Right joystick button | Start/end takeover | During human-in-the-loop robot deployment model inference, press the right joystick button to enable or stop manual takeover. |
3.1 One-click Data Collection Operation
The complex data collection workflow is centralized on the handle buttons, eliminating the need to repeatedly operate the command line.
The standard data collection workflow can be briefly described as: press the right button → teleoperation is now enabled → press the left button (recording has now started) → perform the actions you want to record → press the left button → wait until LEMO Studio shows "Save successful" → continue recording the next piece of data.
3.1.1 One-click Start of Data Collection: More Efficient from Operation to Recording
A short press of the right button starts data collection, and a short press of the left button performs recording, without the need to frequently switch between operating the robotic arm and the computer command line.
3.1.2 One-click Deletion of Problematic Data: Quickly Clean Failed Samples
When an operation error, grasping failure, or data abnormality occurs in this demonstration, you can directly delete the just-completed data by pressing both the left and right buttons simultaneously, without returning to the computer to find and manually clean it.
For more data collection usage content, refer to the LEMO Studio Detailed Tutorial V1.0 for more details.