Alicia-D Series Robotic Arm by Synria Robotics

English Version | 中文版 | Official Taobao Store | Alicia-D Product Manual (CN)

Overview

The Alicia-D series by Synria Robotics provides a cost-effective, fully functional platform for teleoperation data collection and reproducing state-of-the-art robotic algorithms such as imitation learning (IL), reinforcement learning (RL), and vision-language-action (VLA). This repository provides ROS 1 code and examples for the single-arm manipulator of the Alicia-D series.

Recommended System

• Ubuntu 20.04
• ROS Noetic

Installation

Run the install script (it installs required dependencies and builds the workspace):

mkdir -p alicia_ws/src
cd alicia_ws
git clone https://github.com/Synria-Robotics/Alicia-D-ROS1.git -b v5.5.0 ./src/
./src/install/alicia_amd64_install.sh

Repository Structure

This repository contains several directories, each including ROS packages and resources related to the Alicia-D robotic arm series:

├── alicia_d_calibration
├── alicia_d_descriptions
├── alicia_d_driver
├── alicia_d_moveit
├── alicia_d_object_sort

Core ROS Packages

• alicia_d_calibration: Tools for hand-eye calibration and related procedures
• alicia_d_descriptions: URDF and mesh files for visualization in RViz
• alicia_d_driver: Low-level control and communication with the robot arm
• alicia_d_moveit: MoveIt configuration for motion planning and control

Functional Packages and Demos

• alicia_d_object_sort: Multi-color cube sorting demo

Usage

• Set serial port permission

sudo usermod -a -G dialout $USER
# log out after setting

# temporarily setting
sudo chmod 666 /dev/ttyUSB*

• Check the hardware connection

ls -l /dev/ttyUSB*

• Start the Alicia-D driver only:

roslaunch alicia_d_driver alicia_d_driver.launch

Default serial port and baudrate is /dev/ttyUSB0 and 1000000 separately. For custom usage, running like the following:

roslaunch alicia_d_driver alicia_d_driver.launch port:=/dev/ttyCH341USB0 baud_rate:=1000000

Verify: Open another termial, run the following:

rostopic echo /joint_states

The result would similar to following format:

header: 
  seq: 903
  stamp: 
    secs: 1756968284
    nsecs: 232176930
  frame_id: ''
name: 
  - Joint1
  - Joint2
  - Joint3
  - Joint4
  - Joint5
  - Joint6
  - right_finger
position: [-0.011507665397765016, -0.01457637617050229, -0.006904599238658614, 0.002301533079553202, -0.008438954625027745, 0.0007671776931840699, 0.0001297016861219196]
velocity: []
effort: []

• Start the Alicia-D driver with MoveIt:

roslaunch alicia_d_driver alicia_d_bringup.launch

Example of customized usage:

• USB camera calibration:

  Refer Alicia-D calibration guide

• Cube Sorting:

  Refer Alicia-D object sorting guide

Links

• Official Taobao Store: Alicia-D by Synria Robotics on Taobao
• Product Manual: Alicia-D Product Manual (Chinese)