Arm Impedance Command¶
API example for how to send arm impedance commands with the robot. The example initializes the SDK to talk to robot and commands Spot to stand before executing the arm impedance control trajectories.
Understanding Spot Programming¶
For your best learning experience, please use the Quickstart Guide found in the SDK’s docs/python directory. That will help you get your Python programming environment set up properly.
Remember, you will need to launch a software e-stop separately. The E-Stop programming example is here.
Make sure the Motor Enable button on the Spot rear panel is depressed.
Make sure Spot is sitting upright, with the battery compartment on the side closest the floor.
This example requires the bosdyn API and client to be installed, and must be run using python3. Using pip, these dependencies can be installed using:
python3 -m pip install -r requirements.txt
Run the Example¶
To run the example:
python3 arm_impedance_control.py ROBOT_IP