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blue_interface

[ API Reference ] [ Examples ]

robot arm splash

build mypy lint

Blue Interface is a platform-agnostic Python API for controlling Blue robotic arms. It uses rosbridge to communicate with Blue's ROS-based control system over a network connection.

Features:

  • No dependency on ROS (or any particular version of Ubuntu)
  • Easy connection to multiple robots
  • Support for both Python 2 and 3
  • Support for Mac, Windows, and Linux
  • Support for Jupyter Notebooks

It's designed to be lightweight and easy-to-use! Sending a Blue "right" arm to its zero position, for example, is as simple as:

from blue_interface import BlueInterface

blue = BlueInterface(side="right", ip="127.0.0.1")
blue.set_joint_positions([0] * 7)

Installation

From PyPi:

pip install blue-interface

From source:

git clone https://github.com/berkeleyopenarms/blue_interface.git
cd blue_interface
pip install -e .

Examples

  • gripper_controller.py - An example of opening and closing Blue's gripper.
  • inverse_kinematics.py - An example of sending Blue an end effector pose command.
  • print_status.py - An example of reading state and printing values from Blue.
  • zero_position.py - An example of sending Blue a command in joint space.

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High-level, platform-agnostic Python API for controlling Blue

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