Merge branch 'main' into mhidalgo/spot-testing

bdaiinstitute · Dec 18, 2023 · 0454bab · 0454bab
2 parents 037c34a + 78ff69c
commit 0454bab
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/spot_wrapper/wrapper.py b/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")