# Remote Control of Robotic Arms – Using a Standard Gamepad

**URL:** <https://discourse.openrobotics.org/t/remote-control-of-robotic-arms-using-a-standard-gamepad/53550>\
**Category:** ROS General\
**Created:** [March 26, 2026, 9:51am UTC](https://discourse.openrobotics.org/t/remote-control-of-robotic-arms-using-a-standard-gamepad/53550 "2026-03-26T09:51:15Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![Agilex\_Robotics](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/agilex_robotics/32/10554_2.png) [@Agilex\_Robotics](https://discourse.openrobotics.org/u/Agilex_Robotics)\
**Post date:** [March 26, 2026, 9:51am UTC](https://discourse.openrobotics.org/t/remote-control-of-robotic-arms-using-a-standard-gamepad/53550/1 "2026-03-26T09:51:15Z")

</div>

# Gamepad Control for PiPER Manipulator

## 1. Abstract

This document implements intuitive control of the PiPER robotic arm using a standard gamepad. With a common gamepad, you can operate the PiPER manipulator in a visualized environment, delivering a precise and intuitive control experience.

### Tags

PiPER Manipulator, Gamepad Teleoperation, Joint Control, Pose Control, Gripper Control, Forward & Inverse Kinematics

## 2. Repositories

- Navigation Repository: [GitHub - agilexrobotics/Agilex-College: Agilex College · GitHub](https://github.com/agilexrobotics/Agilex-College)
- Project Repository: [GitHub - kehuanjack/Gamepad\_PiPER: This project implements the functionality of teleoperating a PiPER robotic arm using a gamepad. · GitHub](https://github.com/kehuanjack/Gamepad_PiPER)

## 3. Function Demo

![20260326-173204](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/8/3/83802d8fe7d2cf90b060545fcb1c883aadac6237.gif)

## 4. Environment Setup

- OS: Ubuntu 20.04 or later
- Python Environment: Python 3.9 or later. Anaconda or Miniconda is recommended

Clone the project and enter the root directory:

```auto
git clone https://github.com/kehuanjack/Gamepad_PiPER.git
cd Gamepad_PiPER

```

Install common dependencies and kinematics libraries (choose **one** option; pytracik is recommended):

### Option 1: Based on [pinocchio](https://github.com/stack-of-tasks/pinocchio)

(Python == 3.9; requires [piper\_ros](https://github.com/agilexrobotics/piper_ros) and sourcing the ROS workspace, otherwise meshes will not be found)

```auto
conda create -n test_pinocchio python=3.9.* -y
conda activate test_pinocchio
pip3 install -r requirements_common.txt --upgrade
conda install pinocchio=3.6.0 -c conda-forge
pip install meshcat
pip install casadi

```

In `main.py` and `main_virtual.py`, select:`from src.gamepad_pin import RoboticArmController`

### Option 2: Based on [PyRoKi](https://github.com/chungmin99/pyroki)

(Python \>= 3.10)

```auto
conda create -n test_pyroki python=3.10.* -y
conda activate test_pyroki
pip3 install -r requirements_common.txt --upgrade
pip3 install pyroki@git+https://github.com/chungmin99/pyroki.git@f234516

```

In `main.py` and `main_virtual.py`, select:`from src.gamepad_limit import RoboticArmController` or`from src.gamepad_no_limit import RoboticArmController`

### Option 3: Based on [cuRobo](https://github.com/NVlabs/curobo)

(Python \>= 3.8; CUDA 11.8 recommended)

```auto
conda create -n test_curobo python=3.10.* -y
conda activate test_curobo
pip3 install -r requirements_common.txt --upgrade
sudo apt install git-lfs && cd ../
git clone https://github.com/NVlabs/curobo.git && cd curobo
pip3 install "numpy<2.0" "torch==2.0.0" pytest lark
pip3 install -e . --no-build-isolation
python3 -m pytest .
cd ../Gamepad_PiPER

```

In `main.py` and `main_virtual.py`, select:`from src.gamepad_curobo import RoboticArmController`

### Option 4: Based on [pytracik](https://github.com/chenhaox/pytracik)

(Python \>= 3.10)

```auto
conda create -n test_tracik python=3.10.* -y
conda activate test_tracik
pip3 install -r requirements_common.txt --upgrade
git clone https://github.com/chenhaox/pytracik.git
cd pytracik
pip install -r requirements.txt
sudo apt install g++ libboost-all-dev libeigen3-dev liborocos-kdl-dev libnlopt-dev libnlopt-cxx-dev
python setup_linux.py install --user

```

In `main.py` and `main_virtual.py`, select:`from src.gamepad_trac_ik import RoboticArmController`

## 5. Execution Steps

1. **Connect manipulator and activate CAN interface** :`sudo ip link set can0 up type can bitrate 1000000`

2. **Connect gamepad** :Connect the gamepad to the PC via USB or Bluetooth.

3. **Launch control script** :Run `python3 main.py` or `python3 main_virtual.py` in the project directory.It is recommended to test with `main_virtual.py` first in simulation mode.

4. **Verify gamepad connection** :Check console output to confirm the gamepad is recognized.

5. **Web visualization** :Open a browser and go to `http://localhost:8080` to view the manipulator status.

6. **Start control** :Operate the manipulator according to the gamepad mapping.

## 6. Gamepad Control Instructions

### 6.1 Button Mapping

| Button | Short Press Function | Long Press Function |
| --- | --- | --- |
| **HOME** | Connect / Disconnect manipulator | None |
| **START** | Switch high-level control mode (Joint / Pose) | Switch low-level control mode (Joint / Pose) |
| **BACK** | Switch low-level command mode (Position-Velocity 0x00 / Fast Response 0xAD) | None |
| **Y** | Go to home position | None |
| **A** | Save current position | Clear current saved position |
| **B** | Restore previous saved position | None |
| **X** | Switch playback order | Clear all saved positions |
| **LB** | Increase speed factor (high-level) | Decrease speed factor (high-level) |
| **RB** | Increase movement speed (low-level) | Decrease movement speed (low-level) |

### 6.2 Joystick & Trigger Functions

| Control | Joint Mode | Pose Mode |
| --- | --- | --- |
| **Left Joystick** | J1 (Base rotation): Left / RightJ2 (Shoulder): Up / Down | End-effector X / Y translation |
| **Right Joystick** | J3 (Elbow): Up / DownJ6 (Wrist rotation): Left / Right | End-effector Z translation & Z-axis rotation |
| **D-Pad** | J4 (Wrist yaw): Left / RightJ5 (Wrist pitch): Up / Down | End-effector X / Y-axis rotation |
| **Left Trigger (LT)** | Close gripper | Close gripper |
| **Right Trigger (RT)** | Open gripper | Open gripper |

### 6.3 Special Functions

#### 6.3.1 Gripper Control

- Gripper opening range: 0–100%
- Quick toggle: When fully open (100%) or fully closed (0%), a quick press and release of the trigger toggles the state.

#### 6.3.2 Speed Control

- Speed factor: 0.25x, 0.5x, 1.0x, 2.0x, 3.0x, 4.0x, 5.0x (adjust with LB)
- Movement speed: 10%–100% (adjust with RB)

#### 6.3.3 Position Memory

- Supports saving multiple waypoints
- Supports forward and reverse playback

## Notes

- You may run `main_virtual.py` first to test in simulation.
- For first-time use, start with low speed and increase gradually after familiarization.
- Keep a safe distance during operation. Do not approach the moving manipulator.
- Numerical solutions may cause large joint jumps near singularities — maintain safe distance.
- Fast response mode (0xAD) is dangerous. Use with extreme caution and keep clear.
- If using pinocchio, source the ROS workspace of the manipulator in advance, otherwise meshes will not be detected.