Python API for controlling the Blue robot arm
Project description
blue_interface
[ API Reference ] [ Examples ]
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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