heuristicus
commented
1 year ago I don't have access to a spot with an arm to test this. @maubrunn and @mfheinemann were the ones who originally added the arm commands. Perhaps they can test these changes.
Also please apply the correct formatting by running black.
Currently, the driver supports only arm joint movement. If users wants to sent joint trajectories, they must send multiple service requests for consecutive joint targets in the trajectory. This is not recommended by BD, as they state that it is better to pass all trajectory points as a single robot command. This pull requests adds support for this.