blue_interface is a high-level Python API that allows users to control a Blue robotic arm without directly interfacing with ROS. It uses rosbridge to communicate with Blue's ROS-based control system over a network connection.
Why use blue_interface?
- No dependency on ROS
- Easy to connect to multiple robots
- Works with both Python 2 and 3
- Works with Mac, Windows, and Linux
- Works in Jupyter Notebooks
Installing with pip
git clone https://github.com/berkeleyopenarms/blue_interface.git cd blue_interface pip install -e .
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.