AgileX PiPER URDF Model — Import into ARMOR for iPhone, iPad & Mac

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With gripper 11 files · 8.8 MB The arm with its parallel-jaw gripper, for robots on firmware S-V1.6-3 or newer. Seven actuated degrees of freedom: six arm joints and the gripper. With gripper — older firmware 11 files · 8.8 MB The same arm and gripper for robots on firmware older than S-V1.6-3, whose second and third joints sit at slightly different zero positions. Arm only 8 files · 8 MB The six-axis arm without a gripper, for firmware S-V1.6-3 or newer. Six actuated degrees of freedom. Arm only — older firmware 8 files · 8 MB The six-axis arm without a gripper, for firmware older than S-V1.6-3.

11 files 8.8 MB download

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PiPER is a lightweight six-axis robotic arm from AgileX Robotics, used for manipulation research and embodied-AI work. AgileX publishes the model description in its piper_ros repository alongside the ROS packages for driving the arm.

The mechanism

The arm is a serial chain of six revolute joints (joint1 to joint6) from the base to the wrist flange. The gripper adds two prismatic finger joints, joint7 and joint8. The file defines them separately, but AgileX’s own simulation scripts drive joint8 as the negative of joint7, so the gripper is one actuated degree of freedom and the arm with gripper has seven. There are no closed kinematic loops.

Which variant matches your robot?

AgileX’s README says the right URDF depends on the arm’s firmware. Firmware S-V1.6-3 or newer offsets the second and third joints’ coordinate systems by about two degrees, and the default files here use that. If your arm runs older firmware, choose the matching older firmware variant. Each pair is otherwise the same arm, and each is also offered without the gripper.

About this file — read before importing

This links directly to the piper_description package of AgileX’s piper_ros repository. ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what AgileX publishes, unmodified.

License & attribution

Source code

MIT

Model & mesh files

MIT

Attribution

piper_ros — Copyright (c) 2024 RosenYin — MIT License, per the repository's own LICENSE file. The piper_description package's package.xml declares "BSD" with placeholder maintainer fields; the repository-root LICENSE file is treated as authoritative.

ARMOR does not host or redistribute this model. Choosing “Open in ARMOR” downloads the files directly from AgileX Robotics’s own repository, unmodified. Your use of the model is governed by the license above.

Read the full license →

ARMOR is an independent tool published by DCDC LLC. It is not affiliated with, sponsored by, or endorsed by AgileX Robotics. "AgileX" and "PiPER" are used here only to identify the robot this file describes. This model is downloaded directly from AgileX's own repository under the MIT License, which you accept by downloading.