The robotics framework for simplified robot development.
PeppyOS is a robotics framework that takes you from development to production at scale, letting you focus on building intelligent robots while we handle the complexity.
Build and deploy robot software with ease. PeppyOS streamlines your entire robot stack — sensors, actuators, AI, and controllers — making robotics development accessible even if you've never worked with robots before.
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Input
// This is an example of the backbone node for OpenArm01
{
schema_version: 1,
manifest: {
name: "openarm01_backbone",
tag: "0.1.0",
depends_on: {
// We use generic nodes that can do ik/collision/pose estimation
nodes: [
{
name: "inverse_kinematic",
tag: "0.1.0",
local_id: "ik"
},
{
name: "collisions_detection",
tag: "0.1.0",
local_id: "colisions"
},
// Component nodes — must start first; backbone plugs into them
{
name: "openarm01_arm",
tag: "0.1.0",
local_id: "arm"
},
{
name: "openarm01_gripper",
tag: "0.1.0",
local_id: "gripper"
},
]
}
},
// Non exhaustive list of interfaces
interfaces: {
actions: {
exposes: [
{
name: "move_arm",
goal_service: {
request_message_format: {
// The arm id
arm_id: "u16",
// The frequency in hertz at which the feedback is being sent
feedback_frequency: "u32",
// x, y, z
desired_position: {
$type: "array",
$items: "f64",
$length: 3
},
// quaternion x, y, z, w
desired_orientation: {
$type: "array",
$items: "f64",
$length: 4
}
},
response_message_format: {
accepted: "bool"
}
},
// Streamed as the arm moves toward the goal
feedback_topic: {
qos_profile: "standard",
message_format: {
joint_positions: {
$type: "array",
$items: "f64"
},
current_ee_position: {
$type: "array",
$items: "f64",
$length: 3
},
action_time: "f64"
}
},
result_service: {
response_message_format: {
success: "bool",
message: "string",
final_joint_positions: {
$type: "array",
$items: "f64"
},
final_ee_position: {
$type: "array",
$items: "f64",
$length: 3
},
action_time: "f64"
}
}
}
]
},
services: {
consumes: [
{
local_node_id: "arm",
name: "get_arm_id",
},
{
local_node_id: "gripper",
name: "get_gripper_id",
},
]
}
},
}// This is an example of the backbone node for OpenArm01
{
schema_version: 1,
manifest: {
name: "openarm01_backbone",
tag: "0.1.0",
depends_on: {
// We use generic nodes that can do ik/collision/pose estimation
nodes: [
{
name: "inverse_kinematic",
tag: "0.1.0",
local_id: "ik"
},
{
name: "collisions_detection",
tag: "0.1.0",
local_id: "colisions"
},
// Component nodes — must start first; backbone plugs into them
{
name: "openarm01_arm",
tag: "0.1.0",
local_id: "arm"
},
{
name: "openarm01_gripper",
tag: "0.1.0",
local_id: "gripper"
},
]
}
},
// Non exhaustive list of interfaces
interfaces: {
actions: {
exposes: [
{
name: "move_arm",
goal_service: {
request_message_format: {
// The arm id
arm_id: "u16",
// The frequency in hertz at which the feedback is being sent
feedback_frequency: "u32",
// x, y, z
desired_position: {
$type: "array",
$items: "f64",
$length: 3
},
// quaternion x, y, z, w
desired_orientation: {
$type: "array",
$items: "f64",
$length: 4
}
},
response_message_format: {
accepted: "bool"
}
},
// Streamed as the arm moves toward the goal
feedback_topic: {
qos_profile: "standard",
message_format: {
joint_positions: {
$type: "array",
$items: "f64"
},
current_ee_position: {
$type: "array",
$items: "f64",
$length: 3
},
action_time: "f64"
}
},
result_service: {
response_message_format: {
success: "bool",
message: "string",
final_joint_positions: {
$type: "array",
$items: "f64"
},
final_ee_position: {
$type: "array",
$items: "f64",
$length: 3
},
action_time: "f64"
}
}
}
]
},
services: {
consumes: [
{
local_node_id: "arm",
name: "get_arm_id",
},
{
local_node_id: "gripper",
name: "get_gripper_id",
},
]
}
},
}Output nodes
Your robot stack
Why robotics teams choose PeppyOS
Node-Based Robot Architecture
Define your robot stack as modular nodes — cameras, lidar, AI brains, and servo controllers — connected through a simple configuration file.
From Prototype to Production
Deploy robot software that scales from a single prototype to a fleet of robots. PeppyOS handles orchestration, monitoring, and updates.
Multi-Language Support
Write robot nodes in Python or Rust. PeppyOS connects them seamlessly with low-latency inter-process communication.
Built for Performance
PeppyOS is written in Rust for maximum throughput and minimal resource usage. Run more nodes on less hardware without sacrificing reliability.