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High-level, platform-agnostic Python API for controlling Blue
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blue_interface
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.gitignore packaging with setuptools Jan 14, 2019
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README.md

blue_interface

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 .

Examples (blue_interface/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.

API Documentation

https://blue-interface.readthedocs.io/en/latest/

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