- piper_cpp -- C++ SDK for the AgileX Piper 6-DOF arm with gripper. This is a standalone pure C++ library.
- piper_cpp_ros -- A ros2_control hardware interface for the AgileX Piper 6-DOF arm and its optional
parallel-jaw gripper, built on top of
piper_cpp. Exposes position / velocity / effort state and position commands per arm joint, plus a 7th prismatic gripper joint when enabled. - piper_cpp_moveit -- MoveIt 2 configuration for the AgileX Piper 6-DOF arm. Plans on the arm
alone or, with
with_gripper:=true, on the arm + gripper together.
MIT — see LICENSE.