├── .gitignore ├── CHANGELOG(ZH).MD ├── CHANGELOG.MD ├── DESCRIPTION.MD ├── LICENSE ├── MANIFEST.in ├── README(ZH).MD ├── README.MD ├── asserts ├── Q&A.MD ├── V2 │ ├── CHANGELOG-V2.MD │ └── INTERFACE_V2.MD ├── can_config.MD ├── double_piper.MD └── pictures │ ├── host_computer_set_ms.png │ ├── mit_formula.png │ ├── mit_mode.png │ └── wire_connection.PNG ├── piper_sdk ├── __init__.py ├── can_activate.sh ├── can_config.sh ├── can_find_and_config.sh ├── can_muti_activate.sh ├── demo │ ├── V2 │ │ ├── README.MD │ │ ├── V2_piper_ctrl_joint_mit.py │ │ ├── V2_piper_ctrl_motor_max_spd.py │ │ ├── V2_piper_read_gripper_param_feedback.py │ │ ├── V2_piper_set_gripper_param.py │ │ ├── V2_piper_set_installation_pos.py │ │ ├── __init__.py │ │ ├── piper_ctrl_disable.py │ │ ├── piper_ctrl_enable.py │ │ ├── piper_ctrl_end_pose.py │ │ ├── piper_ctrl_go_zero.py │ │ ├── piper_ctrl_gripper.py │ │ ├── piper_ctrl_joint.py │ │ ├── piper_ctrl_line.py │ │ ├── piper_ctrl_moveC.py │ │ ├── piper_ctrl_moveJ.py │ │ ├── piper_ctrl_moveL.py │ │ ├── piper_ctrl_moveP.py │ │ ├── piper_ctrl_reset.py │ │ ├── piper_ctrl_stop.py │ │ ├── piper_read_all_fps.py │ │ ├── piper_read_arm_motor_max_acc_limit.py │ │ ├── piper_read_arm_motor_max_angle_spd.py │ │ ├── piper_read_crash_protectation.py │ │ ├── piper_read_end_pose.py │ │ ├── piper_read_firmware.py │ │ ├── piper_read_fk.py │ │ ├── piper_read_gripper_status.py │ │ ├── piper_read_high_msg.py │ │ ├── piper_read_joint_ctrl.py │ │ ├── piper_read_joint_state.py │ │ ├── piper_read_low_msg.py │ │ ├── piper_read_mode_ctrl.py │ │ ├── piper_read_mode_ctrl_canid_151.py │ │ ├── piper_read_resp_instruction.py │ │ ├── piper_read_status.py │ │ ├── piper_read_tcp_pose.py │ │ ├── piper_read_version.py │ │ ├── piper_set_can.py │ │ ├── piper_set_gripper_zero.py │ │ ├── piper_set_init_default.py │ │ ├── piper_set_joint_zero.py │ │ ├── piper_set_joint_zero_cpv.py │ │ ├── piper_set_load.py │ │ ├── piper_set_log_level.py │ │ ├── piper_set_master.py │ │ ├── piper_set_mit.py │ │ ├── piper_set_motor_angle_limit.py │ │ ├── piper_set_motor_max_acc_limit.py │ │ ├── piper_set_sdk_param.py │ │ ├── piper_set_slave.py │ │ ├── piper_test_interface_disconnect.py │ │ └── piper_test_multi_interface_instance.py │ ├── __init__.py │ ├── detect_arm.MD │ ├── detect_arm.py │ └── manage_vcan.py ├── find_all_can_port.sh ├── hardware_port │ ├── __init__.py │ ├── can_encapsulation.py │ └── can_encapsulation_v0_4_0.py ├── interface │ ├── __init__.py │ ├── interface_version.py │ ├── piper_interface.py │ └── piper_interface_v2.py ├── kinematics │ ├── __init__.py │ └── piper_fk.py ├── log │ └── __init__.py ├── piper_msgs │ ├── __init__.py │ └── msg_v2 │ │ ├── CHANGELOG.MD │ │ ├── __init__.py │ │ ├── arm_id_type_map.py │ │ ├── arm_messages.py │ │ ├── arm_msg_type.py │ │ ├── can_id.py │ │ ├── feedback │ │ ├── __init__.py │ │ ├── arm_feedback_crash_protection_rating.py │ │ ├── arm_feedback_current_end_vel_acc_param.py │ │ ├── arm_feedback_current_motor_angle_limit_max_spd.py │ │ ├── arm_feedback_current_motor_max_acc_limit.py │ │ ├── arm_feedback_end_pose.py │ │ ├── arm_feedback_gripper.py │ │ ├── arm_feedback_gripper_teaching_param.py │ │ ├── arm_feedback_high_spd.py │ │ ├── arm_feedback_joint_states.py │ │ ├── arm_feedback_joint_vel_acc.py │ │ ├── arm_feedback_low_spd.py │ │ ├── arm_feedback_set_instruction_response.py │ │ └── arm_feedback_status.py │ │ └── transmit │ │ ├── __init__.py │ │ ├── arm_circular_pattern.py │ │ ├── arm_crash_protection_rating_config.py │ │ ├── arm_end_vel_acc_param_config.py │ │ ├── arm_gripper_ctrl.py │ │ ├── arm_gripper_teaching_param_config.py │ │ ├── arm_joint_config.py │ │ ├── arm_joint_ctrl.py │ │ ├── arm_joint_mit_ctrl.py │ │ ├── arm_light_ctrl.py │ │ ├── arm_master_slave_config.py │ │ ├── arm_motion_ctrl_1.py │ │ ├── arm_motion_ctrl_2.py │ │ ├── arm_motion_ctrl_cartesian.py │ │ ├── arm_motor_angle_limit_max_spd_config.py │ │ ├── arm_motor_enable_disable.py │ │ ├── arm_param_enquiry_and_config.py │ │ ├── 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