AgileX Piper 6-DoF arm primitive with selectable ROS 2 and direct-SDK backends.
Packages
Reusable primitive, service and skill packages, indexed by capability, source and maintainer.
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Piper arm URDF + robot_state_publisher wrapper (TF stand-in until soma ships).
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Hand-eye calibration TF publisher (vendored easy_handeye2 0.5.0).
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AgileX Ranger Mini chassis driver wrapper.
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ALSA microphone capture and speaker playback primitive for Robonix.
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Audio primitive that connects Robonix to robonix-client microphone and speaker devices.
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D1 6-DOF arm primitive — absolute joint control (rad) + Cartesian move_pose via the SDK's arm-only IK.
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D1 head RealSense D435i camera primitive — on-demand RGB + depth snapshots.
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D1 dexterous-hand primitive — axis-level position control + speed/torque limits over CAN.
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Deep Robotics Lite3 URDF and fixed sensor transform publisher.
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Lite3 quadruped ROS primitive driver wrapper
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Dynamic drone primitive — typed core (takeoff/land/hover/return-to-home/state) + generic invoke passthrough + list_capabilities dynamic discovery, so primitive capabilities extend dynamically as the APK updates
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Intel RealSense D435i driver wrapper — declares RGB + depth + extrinsics contracts.
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LinkerHand O6 dexterous-hand primitive — axis-level position control + speed/torque limits over CAN.
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Livox MID-360 IMU atlas wrapper — depends on mid360_lidar_rbnx.
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Livox MID-360 lidar driver wrapper.
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TODO: describe what this primitive package provides.
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MirrorMe BPX odometry and guarded stand/sit posture provider with a Dockerized ROS 2 Humble runtime.
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Orbbec Dabai DCW RGBD primitive — declares rgb + depth + camera_info.
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Orbbec Gemini 330-series RGBD camera driver wrapper — declares RGB + depth + extrinsics contracts.
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Publishes the Soma-owned URDF as the standard ROS 2 robot TF tree.
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Minecraft Forge client primitive providing camera, chassis, perception, and Minecraft capabilities.
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N10P Lidar driver for 2D SLAM mapping and navigation.
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wheeltec r550_minitank chassis driver wrapper.
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Guarded ROS1 navigation up to 0.80 m for Yahboom ROSMASTER X3.
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Drone fire & smoke detection service -- pulls MJPEG frames from the DJI bridge APK, runs YOLO to detect flame/smoke; attaches the current GPS coordinates on a hit
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Geometric grasp-pose estimator (gRPC).
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SLAM mapping service. Algo + sensor inputs config-driven.
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Experience-backed candidate action retrieval service for embodied models.
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Minecraft depth and exact-odometry 2D mapping service.
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Minecraft occupancy-grid navigation service.
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Nav2 service wrapper exposing service/navigation/* over gRPC.
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Instruction-following navigation service — cloud S2 semantic latents plus edge S1 action generation with adaptive cloud-edge synchronization.
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LLM-based object detection — atlas MCP service, drop-in replacement for yolo_world_rbnx.
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PointCloud2 to LaserScan conversion service.
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MoveIt + grasp executor (atlas-routed manipulation service).
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Roboarm-style Python IK executor service for Piper manipulation.
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Lazy in-process VLA action verification service with Drafter verification and target-model fallback.
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Manage asynchronous OpenVLA-OFT LoRA fine-tuning jobs.
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Collect task-conditioned robot demonstrations into HDF5 episodes.
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Convert robot HDF5 episodes into RLDS datasets.
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Safely home and enable two AgileX Piper arms and grippers.
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Execute a validated dual-Piper left-to-center-to-right transfer plan.
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Frontier-based autonomous exploration skill.
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Inspect the surroundings with a 360-degree camera sweep and review the latest observation.
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Make the D1 dexterous hand perform a finger "dance" — a rhythmic open/close wiggle across all fingers for a given duration. A single MCP tool for the D1 hand.
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Closed-loop visual navigation using InternVLA, a camera snapshot capability, and a chassis move capability.
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Frontier-based exploration skill for the Minecraft example.
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Multi-task OpenVLA-OFT manipulation skill for Robonix.
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Pick-up-a-named-object skill — orchestrates perception + manipulation services.
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Detect objects on the table (YOLO cubes, or open-vocabulary via a VLM), then grasp and place them (with optional grasp angle and gripper aperture) — MCP tools for the D1 dexterous hand.
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VLA client skill — LLM-callable entry point for vision-language-action inference and JOINT-SPACE execution.
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