{"id":29669200,"url":"https://github.com/threeal/piper-kit","last_synced_at":"2025-10-28T16:15:52.165Z","repository":{"id":300979203,"uuid":"1007736443","full_name":"threeal/piper-kit","owner":"threeal","description":"SDK and CLI tools for AgileX PiPER robotic arm.","archived":false,"fork":false,"pushed_at":"2025-07-10T11:08:28.000Z","size":113,"stargazers_count":1,"open_issues_count":5,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2025-07-10T13:10:24.603Z","etag":null,"topics":["can-bus","cli","python","robot","robotic-arm","robotics","sdk","socketcan"],"latest_commit_sha":null,"homepage":"https://threeal.github.io/piper-kit/","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/threeal.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-06-24T12:59:28.000Z","updated_at":"2025-07-10T11:08:30.000Z","dependencies_parsed_at":"2025-06-24T15:29:24.762Z","dependency_job_id":"46ec3739-e571-4df9-8afb-0e6e0cc9ac74","html_url":"https://github.com/threeal/piper-kit","commit_stats":null,"previous_names":["threeal/piper-cli","threeal/piper-kit"],"tags_count":0,"template":false,"template_full_name":"threeal/python-starter","purl":"pkg:github/threeal/piper-kit","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/threeal%2Fpiper-kit","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/threeal%2Fpiper-kit/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/threeal%2Fpiper-kit/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/threeal%2Fpiper-kit/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/threeal","download_url":"https://codeload.github.com/threeal/piper-kit/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/threeal%2Fpiper-kit/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":266544784,"owners_count":23945759,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-07-22T02:00:09.085Z","response_time":66,"last_error":null,"robots_txt_status":null,"robots_txt_updated_at":null,"robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["can-bus","cli","python","robot","robotic-arm","robotics","sdk","socketcan"],"created_at":"2025-07-22T18:05:21.437Z","updated_at":"2025-10-28T16:15:52.106Z","avatar_url":"https://github.com/threeal.png","language":"Python","readme":"# PiPER Kit\n\nA Python SDK and CLI toolkit for controlling the [AgileX PiPER](https://global.agilex.ai/products/piper) 6-DOF robotic arm via CAN bus communication.\n\nThis 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.\n\n## Installation\n\nInstall from PyPI:\n\n```bash\npip install piper-kit\n```\n\nOr for development:\n\n```bash\ngit clone https://github.com/threeal/piper-kit.git\ncd piper-kit\nuv sync\n```\n\n## Usage\n\n### CLI Commands\n\nEnable the robotic arm (moves to home position):\n\n```bash\npiper enable\n# or specify CAN interface\npiper enable can1\n```\n\nDisable the robotic arm (moves to safe position):\n\n```bash\npiper disable\n# or specify CAN interface\npiper disable can1\n```\n\n### Python SDK\n\n```python\nfrom piper_kit import Piper\n\n# Use context manager for proper cleanup\nwith Piper(\"can0\") as piper:\n    # Enable all joints\n    piper.enable_all_joints()\n\n    # Set motion control\n    piper.set_motion_control_b(\"joint\", 20)\n\n    # Control joint positions (6 joints: J1, J2, J3, J4, J5, J6)\n    piper.set_joint_control(0, 0, 0, 0, 0, 0)\n```\n\n## License\n\nThis project is licensed under the terms of the [MIT License](./LICENSE).\n\nCopyright © 2025 [Alfi Maulana](https://github.com/threeal)\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fthreeal%2Fpiper-kit","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fthreeal%2Fpiper-kit","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fthreeal%2Fpiper-kit/lists"}