From d23dd90ab7c02028af84a58a9f1caf893d0b7d34 Mon Sep 17 00:00:00 2001 From: Laura Lee Date: Thu, 7 Nov 2024 21:01:31 +0000 Subject: [PATCH] Default wrist_tform_tool to be identity --- spot_wrapper/spot_arm.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/spot_wrapper/spot_arm.py b/spot_wrapper/spot_arm.py index e50d3f6..5f56623 100644 --- 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, )