Move an AgileX Piper to poses with Move Twin

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Before you start

• A Piper paired with Cyberwave and enabled over CAN. See Get started with the AgileX Piper arm.
• A recent piper-driver image on the edge. It starts the planner and the mission service next to the driver. No extra setup is needed.

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How a mission runs

1. Each waypoint is a pose of the link6 frame (the wrist flange). The fingertips are 0.1358 m further along link6’s +z axis. To target the fingertips, set Move Twin’s tool offset.
2. Each waypoint is planned as a straight-line move (LIN, the default) or a joint move (PTP). Choose per mission with the planner field.
3. The mission ends as completed, failed (with the planner’s reason) or cancelled. Move Twin waits for that result.

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Things to know

• Stop cancels the running mission, and it reports cancelled.
• No camera. A mission that asks for a picture on arrival fails before the arm moves.
• Don’t teleop during a mission. Teleop and the planner command the same joints, and the most recent command wins.
• Simulation. A simulated Piper takes the same Move Twin node, so you can test a mission before running it live. See Simulation execution target.
• Motions are planned at 20% of the planner’s velocity and acceleration limits, which sit below the arm’s own. The arm’s firmware also enforces its own limits.

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API

curl -X POST "https://api.cyberwave.com/api/v1/twins/$TWIN_UUID/navigation" \
  -H "Authorization: Bearer $CYBERWAVE_API_KEY" \
  -H "Content-Type: application/json" \
  -d '{
        "command": "path",
        "planner": "LIN",
        "source_type": "tele",
        "waypoints": [
          {"position": {"x": 0.25, "y": 0.0, "z": 0.25},
           "rotation": {"x": 1.0, "y": 0.0, "z": 0.0, "w": 0.0}}
        ]
      }'

• Always send a rotation. If you leave it out, the arm is asked to point the tool straight up, which is usually unreachable. The rotation above points the tool down.
• source_type is tele for a live arm and sim_tele for a simulated one. A live arm ignores commands meant for simulation, and a simulated arm ignores live ones.