Merge branch 'main' into mhidalgo/spot-testing

Author: amessing-bdai

spot_wrapper/wrapper.py

@@ -1287,8 +1287,8 @@ def power_on(self) -> typing.Tuple[bool, str]:
         """
         # Don't bother trying to power on if we are already powered on
         if not self.check_is_powered_on():
-            # If we are requested to start the estop, we have to acquire it when powering on.
-            if self._start_estop:
+            # If we are requested to start the estop, we have to acquire it when powering on. Ignore if estop is already acquired.
+            if self._start_estop and self._estop_keepalive is None:
                 self.resetEStop()
             try:
                 self._logger.info("Powering on")