README(EN).MD

Piper Robotic Arm SDK(V1) Demo

中文

Test:

PYTHON	STATE

Installation Instructions

Install Dependencies

Note: python-can >= 4.3.1

pip3 install python-can

pip3 install piper_sdk

Instructions for activating the CAN module can README

Demo Overview

V1
├── motor_max_acc_limit_config.py
├── piper_disable.py
├── piper_enable.py
├── piper_end_pose.py
├── piper_gripper_ctrl.py
├── piper_gripper_zero_set.py
├── piper_init_default.py
├── piper_joint_ctrl.py
├── piper_master_config.py
├── piper_moveC.py
├── piper_read_arm_motor_max_acc_limit.py
├── piper_read_arm_motor_max_angle_spd.py
├── piper_read_end_pose.py
├── piper_reset.py
├── piper_set_mit.py
├── piper_slave_config.py
├── piper_status.py
├── piper_stop.py
├── read_gripper_status.py
├── read_joint_state.py
└── read_piper_hardware.py

File	Description
motor_max_acc_limit_config.py	Set the maximum acceleration limit for individual joints' motors
piper_disable.py	Disable the robotic arm
piper_enable.py	Enable the robotic arm
piper_end_pose.py	Control the end effector of the robotic arm
piper_gripper_ctrl.py	Control the robotic arm's gripper
piper_gripper_zero_set.py	Set the gripper zero position
piper_init_default.py	Set default limits for all joints, maximum speeds, and accelerations
piper_joint_ctrl.py	Control the robotic arm's joints
piper_master_config.py	Set the robotic arm as the master arm
piper_moveC.py	Set the robotic arm as the circle mode
piper_read_arm_motor_max_acc_limit.py	Read the maximum acceleration limits of all motors
piper_read_arm_motor_max_angle_spd.py	Read the maximum speed limits of all motors
piper_read_end_pose.py	Read the end effector's pose
piper_reset.py	Reset the robotic arm; needs to be executed after setting to teach mode
piper_set_mit.py	Set the robotic arm to MIT mode, where it responds the fastest
piper_slave_config.py	Set the robotic arm as the slave arm
piper_status.py	Read the status of the robotic arm
piper_stop.py	The robotic arm stops with a slow descent, and it needs to be reset and re-enabled twice after use
read_gripper_status.py	Read the status of the gripper
read_joint_state.py	Read joint angle messages and print them
read_piper_hardware.py	Read the firmware version of the robotic arm's main controller

Note: If the robotic arm is in master arm mode, after sending the command to set it to slave arm, the arm needs to be restarted for the switch to take effect.