upper_body_control
Signature:
BoosterRobot.upper_body_control(enable: bool) -> None
Description:
Enable or disable upper body custom control in "walk" mode. When enabled, control authority for the head and both arms is transferred to the caller, requiring set_joints() to send upper body joint commands, while the legs continue to be controlled by the system for walking; when disabled, upper body control authority is returned to the system. The difference from "custom" mode is that in "custom" mode the legs are also taken over by the caller, whereas this API only takes over the upper body.
Parameters:
Parameter | Type | Default | Description |
|---|---|---|---|
|
| Required |
|
Returns:
None
Raises:
RuntimeError: Not currently in "walk" mode, or upper body custom control command failed to send.
Example:
from boosteros.robots.booster import BoosterRobot
import time
robot = BoosterRobot()
robot.set_mode("walk")
robot.upper_body_control(True)
time.sleep(5.0)
robot.upper_body_control(False)