Piper Arm Direct Controller

Standalone controller for the Agilex Piper 6-DOF robot arm. Talks directly to the robot via CAN bus using piper_sdk — no ROS, no MoveIt, no RViz needed. Starts in ~2 seconds.

Install

pip3 install numpy python-can piper_sdk
sudo apt install can-utils

Connect the Physical Robot

sudo bash setup.sh 

Run

python3 single_arm.py

The robot will home (all joints to zero), then you get an interactive prompt.

Running Dual Arms

python3 dual_arm.py

Keyboard Controller

python single_keyboard.py

==================================================
  KEYBOARD CONTROL — HANGING  (1cm per press)
==================================================
  w/s    +X / -X  (forward / backward)
  a/d    +Y / -Y  (left / right)
  q/e    +Z / -Z  (up / down)
  r      home     (safe -> mid-range)
  t      relax    (safe -> elbow -> hang)
  o/c    gripper open / close
  [/]    speed down / up
  x      quit
==================================================