openpi-control

openpi-control is a native C++ robot-control library. Each arm runs one pi_control_node process that communicates with the main Python process via ZeroMQ.

Arm	Follower effector	Leader effector
Yam	E_Yam	E_Yam_Handle
ARX_L5	E_ARX	E_ARX
ARX_X5	E_ARX	E_ARX

from openpi_control import ArmConfig, ArmSession, PositionCommand, SocketCanConnection

with ArmSession() as session:
    follower = session.add_follower(
        ArmConfig(
            "right_follower",
            "Yam",
            SocketCanConnection("can_follower_r"),
            effector_model="E_Yam",
            follower_gravity_compensation=True,
        )
    )
    session.connect()
    follower.command(PositionCommand([0, 0, 0, 0, 0, 0], 1.0))

Building from source

Building requires CMake, a C++17 compiler, Eigen, Boost, ZeroMQ, cppzmq, and Pinocchio. It has only been tested on Ubuntu 22.04.

sudo ./scripts/install_build_deps_ubuntu.sh
./scripts/build_deps.sh
uv build --wheel

The wheel is written to dist/.