PiPER Kit

A Python SDK and CLI toolkit for controlling the AgileX PiPER 6-DOF robotic arm via CAN bus communication.

This package provides direct low-level control through socketcan interface, enabling real-time joint positioning, motion control, and safety monitoring. Features both command-line tools for quick operations and a comprehensive Python API for programmatic control with automatic resource management.

Installation

Install from PyPI:

pip install piper-kit

Or for development:

git clone https://github.com/threeal/piper-kit.git
cd piper-kit
uv sync

Usage

CLI Commands

Enable the robotic arm (moves to home position):

piper enable
# or specify CAN interface
piper enable can1

Disable the robotic arm (moves to safe position):

piper disable
# or specify CAN interface
piper disable can1

Python SDK

from piper_kit import Piper

# Use context manager for proper cleanup
with Piper("can0") as piper:
    # Enable all joints
    piper.enable_all_joints()

    # Set motion control
    piper.set_motion_control_b("joint", 20)

    # Control joint positions (6 joints: J1, J2, J3, J4, J5, J6)
    piper.set_joint_control(0, 0, 0, 0, 0, 0)

License

This project is licensed under the terms of the MIT License.

Copyright © 2025 Alfi Maulana