brentyi / blue_interface

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

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://berkeleyopenarms.github.io/blue_interface/