Is there a way to set the joint impedance to be 0? I’d like to let the wrist joint be free to rotate based on the forces it experiences, and programmatically command the rest of the joints. Thanks!
Hi @arjung. The wrist_yaw joint doesn’t have an impedance control mode as it is simply a Dynamixel servo. It can however be turned off by disabling the torque through the Stretch Body API. See the disable_torque function.
On this joint there is a 3.4:1 belt drive in addition to the servo. Unfortunately this has the effect of making the joint harder to backdrive (and therefore less sensitive when reacting to external forces).
It may be possible to implement an admittance controller in Python but I can’t say what the performance would be.