PiperLib: Library and programs for using AgileX Piper arm.

Install deps

apt install can-utils ethtool pip3 install numpy

Guide

Initialize can connection. Need to run at robot connection or power cycle.
```
bash /home/Piper_ros/can_activate.sh can0 1000000
```
More

Run a predefined trajectory for analysis

python3 run_tractory.py --trajectory=... --log_file=... ---mit_mode=True/False

Then

python3 analyze_log.py log_file

Content

README.md: this file piper.py: piper_lib main file, implemented Piper and Metronome.

can_activate.sh: script to setup can connection. from piper_sdk.

 usage:

run_trajectory.py: run trajectory and log command sent and sensed joints.

analyze_log.py: plot control log file generated by run_trajectory.py

teleop.py: teleop program. (WIP)

pollo.energia.ino: Tiva C board energia code for pollo, a potentiometer gello device.

data: captured data and plot. can_utils.py: can utility functions. from piper_sdk. piper_can_ids.py: CAN id definition. from piper_sdk.

Name		Name	Last commit message	Last commit date
Latest commit History 15 Commits
configs		configs
data		data
snippets		snippets
.gitignore		.gitignore
README.md		README.md
analyze_log.py		analyze_log.py
can_activate.sh		can_activate.sh
can_utils.py		can_utils.py
collect_data.py		collect_data.py
episode_logging.py		episode_logging.py
eval.py		eval.py
featurize_data.py		featurize_data.py
inference_analysis.py		inference_analysis.py
piper.py		piper.py
piper_can_ids.py		piper_can_ids.py
pollo.energia.ino		pollo.energia.ino
pollo.py		pollo.py
run_collect_data.sh		run_collect_data.sh
run_collect_data_biarm.sh		run_collect_data_biarm.sh
run_trajectory.py		run_trajectory.py
teleop_lib.py		teleop_lib.py
teleop_pair.py		teleop_pair.py
test_camera_recording.py		test_camera_recording.py
test_multicam_fps.py		test_multicam_fps.py
test_piper.py		test_piper.py
test_pollo.py		test_pollo.py
test_teleop.py		test_teleop.py
test_teleop_raw.py		test_teleop_raw.py
test_teleop_raw_4pipers.py		test_teleop_raw_4pipers.py
tfexample_io.py		tfexample_io.py
timing.py		timing.py
usb_address_from_iserial.sh		usb_address_from_iserial.sh
viz.py		viz.py
viz_rerun.py		viz_rerun.py

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