*****
PiPER
*****

Revision History
================

+----------+-------------------+----------+------------------------------------------------------+
| Revision | Date (DD/MM/YYYY) | Author   | Changes                                              |
+==========+===================+==========+======================================================+
| 1        | 14/1/2025         | Kang Wei | Initial release                                      |
+----------+-------------------+----------+------------------------------------------------------+

1. Overview
===========

.. image:: figures/PiPER.png
    :width: 400 px
    :align: center

PiPER by AgileX Robotics is a powerful lightweight robotic arm that excels in precision, speed, and adaptability. Compact and user-friendly, it seamlessly fits into any environment, empowering users to innovate and achieve more with ease.

2. Specifications
=================

.. list-table:: Common Technical Specifications
   :widths: 25 25

   * - Degree of Freedom
     - 6
   * - Payload
     - 1.5 kg 
   * - Weight
     - 4.2kg
   * - Repeatability
     - ±0.1mm
   * - Reach
     - 626mm
   * - Input Voltage
     - DC 24V
   * - Materials
     - Aluminum alloy boby, polymer shell
   * - Controller
     - Integrated
   * - Communication
     - CAN
   * - Programming
     - Drag teaching / Offline trajectory / API / PC
   * - External Interface
     - Power x 1, CAN x 1
   * - Base Installation Dimensions
     - 70mm x 70mm (M5 x 4)

3. Resources
============

Videos
------
* Unboxing (CN): `Video Link <https://www.bilibili.com/video/BV1KcmKYWE6L/?spm_id_from=333.999.0.0>`_
* Return to Home Position (CN): `Video Link <https://www.bilibili.com/video/BV1wDSDY1EJf/?spm_id_from=333.999.0.0>`_
* Gripper Installation (CN): `Video Link <https://www.bilibili.com/video/BV1Ab1PYzEvr/?spm_id_from=333.999.0.0>`_

Manuals
-------
* User Manual (EN): `PDF <https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EfqPP2v-mhFKv-VARWnYcyUB-xQBw-88Vx5Pro3mZsgmGg?e=KTfP6b>`_
* Quick Start Guide (EN): `PDF <https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EZQW2Y1CL_pHm8SymXTjTsMBVfHFpi-THuqaTYGQ3FMW1g?e=rQMw0H>`_
* User Manual (CN): `PDF <https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EasMrjngL_pNmaawLe8mlCgBTgPMNG1hp6PRw32CDxccow?e=7q5abC>`_
* Quick Start Guide (CN): `PDF <https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EQBRJZsY1gdDg_do070o2goBCWjyDwGL9dohA4xCFqkNog?e=38opB8>`_

Software
--------
* Windows Application: `APP <https://tangrobot.sharepoint.com/:u:/s/Public-Outgoing/EUN0qfdCSLVCqZPctXXr_SwB6CCPON8HHcWR5ybNwy1aOQ?e=zekJyS>`_
* CAN Communication Protocol (CN): `CAN Protocol <https://tangrobot.sharepoint.com/:x:/s/Public-Outgoing/EXt0lngMwfpEuhgttEqFuYIBtMUkrF6Ou1ovQOHQbsWm8A?e=2FoZtv>`_ 

Development
-----------
* SDK: `piper_sdk <https://github.com/agilexrobotics/piper_sdk>`_
* SDK_DEMO: `piper_sdk_demo <https://github.com/agilexrobotics/piper_sdk_demo>`_
* ROS1: `Piper_ros1_noetic <https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha>`_
* ROS2: 
   * `Piper_ros2_humble <https://github.com/agilexrobotics/Piper_ros/tree/ros-humble-no-aloha>`_
   * `Piper_ros2_foxy <https://github.com/agilexrobotics/Piper_ros/tree/ros-foxy-no-aloha>`_
* Gazebo： `Gazebo <https://github.com/agilexrobotics/agilex_open_class/tree/master/piper>`_
* Issac SIM： `piper_issac_sim <https://github.com/agilexrobotics/piper_isaac_sim>`_
* URDF: `urdf <https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha/src/piper_description/urdf>`_
* Moveit2: `Moveit2 <https://github.com/agilexrobotics/agilex_open_class/tree/master/piper>`_

CAD Models
----------
* PiPER Arm: `PIPER <https://tangrobot.sharepoint.com/:u:/s/Public-Outgoing/Edhy2bZ_K1VEtaVOmVpe7AEBsh_b-1CXjWN9vhLG7VqNMw?e=qyKYmB>`_
* Gripper: `Gripper <https://tangrobot.sharepoint.com/:u:/s/Public-Outgoing/EYwTc-zvbopOqe_LtjsbhscBrMTgOvUHuVOVgNnWEDmt5w?e=WzT6bk>`_
* Drag Teaching Tool: `Drag Tool <https://tangrobot.sharepoint.com/:u:/s/Public-Outgoing/EfaGx4MK2hxHonUwllRgDGgBz9ciPUZrmXTq3Hu4o4WAyQ?e=ZVX6uK>`_