piper_kit.Piper

class documentation

class Piper:

Constructor: Piper(can_iface)

Interface for controlling the AgileX PiPER robotic arm via CAN bus.

This class provides methods for controlling joint positions, enabling/disabling joints, and reading feedback from the robotic arm through the CAN bus interface.

Parameters
can_iface	CAN interface name (e.g., 'can0')

Method	`__enter__`	Enter context manager.
Method	`__exit__`	Exit context manager and shutdown CAN bus.
Method	`__init__`	Initialize Piper with CAN interface.
Method	`disable_all_joints`	Disable all joints simultaneously.
Method	`disable_gripper`	Disable gripper control.
Method	`disable_joint`	Disable a specific joint.
Method	`enable_all_joints`	Enable or disable all joints simultaneously.
Method	`enable_gripper`	Enable or disable gripper control.
Method	`enable_joint`	Enable or disable a specific joint.
Method	`read_all_joint_feedbacks`	Read current position feedback from all 6 joints.
Method	`read_all_motor_info_bs`	Read motor information from all 6 joints.
Method	`read_gripper_feedback`	Read position feedback from the gripper.
Method	`read_message`	Read a single message from the CAN bus.
Method	`set_all_joint_configs`	Set the configuration of all joints.
Method	`set_end_pose_control`	Set position and rotation control of end-effector pose.
Method	`set_end_pose_control_ry`	Set roll and yaw rotations control of end-effector pose.
Method	`set_end_pose_control_xy`	Set X and Y positions control of end-effector pose.
Method	`set_end_pose_control_zp`	Set Z position and pitch rotation control of end-effector pose.
Method	`set_gripper_control`	Control gripper position and effort.
Method	`set_joint_config`	Set the configuration of a specific joint.
Method	`set_joint_control`	Set position control for all 6 joints simultaneously.
Method	`set_joint_control_12`	Set position control for joints 1 and 2.
Method	`set_joint_control_34`	Set position control for joints 3 and 4.
Method	`set_joint_control_56`	Set position control for joints 5 and 6.
Method	`set_motion_control_b`	Set motion control parameters for the robotic arm.
Instance Variable	`bus`	Undocumented

def __enter__(self) -> Self: ¶

Enter context manager.

def __exit__(self, _exc_type: type[BaseException] | None, _exc_val: BaseException | None, _exc_tb: TracebackType | None): ¶

Exit context manager and shutdown CAN bus.

def __init__(self, can_iface: str): ¶

Initialize Piper with CAN interface.

def disable_all_joints(self): ¶

Disable all joints simultaneously.

def disable_gripper(self): ¶

Disable gripper control.

def disable_joint(self, joint_id: EnableJointMessage.JointId): ¶

Disable a specific joint.

Parameters
joint_id:`EnableJointMessage.JointId`	Joint ID (1-6) or 7 for all joints

def enable_all_joints(self, *, enable: bool = True): ¶

Enable or disable all joints simultaneously.

Parameters
enable:`bool`	True to enable, False to disable

def enable_gripper(self, *, enable: bool = True): ¶

Enable or disable gripper control.

Parameters
enable:`bool`	True to enable, False to disable

def enable_joint(self, joint_id: EnableJointMessage.JointId, *, enable: bool = True): ¶

Enable or disable a specific joint.

Parameters
joint_id:`EnableJointMessage.JointId`	Joint ID (1-6) or 7 for all joints
enable:`bool`	True to enable, False to disable

def read_all_joint_feedbacks(self) -> list[int]: ¶

Read current position feedback from all 6 joints.

Blocks until feedback is received from all joints.

Returns
`list[int]`	List of 6 joint positions [joint1, joint2, joint3, joint4, joint5, joint6]

def read_all_motor_info_bs(self) -> list[MotorInfoBMessage]: ¶

Read motor information from all 6 joints.

Blocks until motor info is received from all joints.

Returns
`list[MotorInfoBMessage]`	List of 6 MotorInfoBMessage objects containing status and diagnostic info

def read_gripper_feedback(self) -> GripperFeedbackMessage: ¶

Read position feedback from the gripper.

Blocks until gripper feedback is received.

Returns
`GripperFeedbackMessage`	A GripperFeedbackMessage containing the current gripper position.

def read_message(self) -> ReceiveMessage: ¶

Read a single message from the CAN bus.

Returns
`ReceiveMessage`	Parsed message object (JointFeedback, GripperFeedback, MotorInfo, or Unknown)

def set_all_joint_configs(self, *, set_zero: bool = False, clear_error: bool = False): ¶

Set the configuration of all joints.

Parameters
set_zero:`bool`	Whether to set the current joint position as the zero position
clear_error:`bool`	Whether to clear the current joint error codes

def set_end_pose_control(self, x: int, y: int, z: int, pitch: int, roll: int, yaw: int): ¶

Set position and rotation control of end-effector pose.

Parameters
x:`int`	Target X position in 0.001 mm.
y:`int`	Target Y position in 0.001 mm.
z:`int`	Target Z position in 0.001 mm.
pitch:`int`	Target pitch rotation in 0.001 degrees.
roll:`int`	Target roll rotation in 0.001 degrees.
yaw:`int`	Target yaw rotation in 0.001 degrees.

def set_end_pose_control_ry(self, roll: int, yaw: int): ¶

Set roll and yaw rotations control of end-effector pose.

Parameters
roll:`int`	Target roll rotation in 0.001 degrees.
yaw:`int`	Target yaw rotation in 0.001 degrees.

def set_end_pose_control_xy(self, x: int, y: int): ¶

Set X and Y positions control of end-effector pose.

Parameters
x:`int`	Target X position in 0.001 mm.
y:`int`	Target Y position in 0.001 mm.

def set_end_pose_control_zp(self, z: int, pitch: int): ¶

Set Z position and pitch rotation control of end-effector pose.

Parameters
z:`int`	Target Z position in 0.001 mm.
pitch:`int`	Target pitch rotation in 0.001 degrees.

def set_gripper_control(self, position: int, effort: int, *, enable: bool = True, clear_error: bool = False, set_zero: bool = False): ¶

Control gripper position and effort.

Parameters
position:`int`	Target gripper position
effort:`int`	Effort/force to apply
enable:`bool`	Enable gripper control
clear_error:`bool`	Clear any error state
set_zero:`bool`	Set current position as zero reference

def set_joint_config(self, joint_id: JointConfigMessage.JointId, *, set_zero: bool = False, clear_error: bool = False): ¶

Set the configuration of a specific joint.

Parameters
joint_id:`JointConfigMessage.JointId`	Joint ID (1-6 for individual joints, 7 for all joints)
set_zero:`bool`	Whether to set the current joint position as the zero position
clear_error:`bool`	Whether to clear the current joint error codes

def set_joint_control(self, joint_1: int, joint_2: int, joint_3: int, joint_4: int, joint_5: int, joint_6: int): ¶

Set position control for all 6 joints simultaneously.

Parameters
joint_1:`int`	Target position for joint 1
joint_2:`int`	Target position for joint 2
joint_3:`int`	Target position for joint 3
joint_4:`int`	Target position for joint 4
joint_5:`int`	Target position for joint 5
joint_6:`int`	Target position for joint 6

def set_joint_control_12(self, joint_1: int, joint_2: int): ¶

Set position control for joints 1 and 2.

Parameters
joint_1:`int`	Target position for joint 1
joint_2:`int`	Target position for joint 2

def set_joint_control_34(self, joint_3: int, joint_4: int): ¶

Set position control for joints 3 and 4.

Parameters
joint_3:`int`	Target position for joint 3
joint_4:`int`	Target position for joint 4

def set_joint_control_56(self, joint_5: int, joint_6: int): ¶

Set position control for joints 5 and 6.

Parameters
joint_5:`int`	Target position for joint 5
joint_6:`int`	Target position for joint 6

def set_motion_control_b(self, move_mode: MotionControlBMessage.MoveMode, move_speed_rate: int, *, control_mode: MotionControlBMessage.ControlMode = 'can'): ¶

Set motion control parameters for the robotic arm.

Parameters
move_mode:`MotionControlBMessage.MoveMode`	Motion control mode ('joint' or other modes)
move_speed_rate:`int`	Speed rate for movement (0-100)
control_mode:`MotionControlBMessage.ControlMode`	Control mode ('can' by default)

bus = ¶

Undocumented