Default wrist_tform_tool to be identity

bdaiinstitute · Nov 7, 2024 · d23dd90 · d23dd90
1 parent 137ffe3
commit d23dd90
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/spot_wrapper/spot_arm.py b/spot_wrapper/spot_arm.py
@@ -496,7 +496,10 @@ def hand_pose(
 
             arm_cartesian_command = arm_command_pb2.ArmCartesianCommand.Request(
                 root_frame_name=ref_frame,
-                wrist_tform_tool=geometry_pb2.SE3Pose(position=geometry_pb2.Vec3(x=0.0, y=0.0, z=0.0), rotation=geometry_pb2.Quaternion(w=1.0, x=0.0, y=0.0, z=0.0)),
+                wrist_tform_tool=geometry_pb2.SE3Pose(
+                    position=geometry_pb2.Vec3(x=0.0, y=0.0, z=0.0),
+                    rotation=geometry_pb2.Quaternion(w=1.0, x=0.0, y=0.0, z=0.0),
+                ),
                 pose_trajectory_in_task=hand_trajectory,
                 force_remain_near_current_joint_configuration=True,
             )