add a wrapper function for sending arm joint commands

Author: llee-bdai

spot_wrapper/wrapper.py

@@ -1326,14 +1326,16 @@ def velocity_cmd(
         self.last_velocity_command_time = end_time
         return response[0], response[1]
 
-    def arm_joint_cmd(self, sh0: float, sh1: float, el0: float, el1: float, wr0: float, wr1: float) -> typing.Tuple[bool, str]:
+    def arm_joint_cmd(
+        self, sh0: float, sh1: float, el0: float, el1: float, wr0: float, wr1: float
+    ) -> typing.Tuple[bool, str]:
         traj_point = RobotCommandBuilder.create_arm_joint_trajectory_point(sh0, sh1, el0, el1, wr0, wr1)
         arm_joint_traj = arm_command_pb2.ArmJointTrajectory(points=[traj_point])
 
         joint_move_command = arm_command_pb2.ArmJointMoveCommand.Request(trajectory=arm_joint_traj)
         arm_command = arm_command_pb2.ArmCommand.Request(arm_joint_move_command=joint_move_command)
-        sync_arm = synchronized_command_pb2.SynchronizedCommand.Request(arm_command=arm_command)
-        arm_sync_robot_cmd = robot_command_pb2.RobotCommand(synchronized_command=sync_arm)
+        sync_arm_command = synchronized_command_pb2.SynchronizedCommand.Request(arm_command=arm_command)
+        arm_sync_robot_cmd = robot_command_pb2.RobotCommand(synchronized_command=sync_arm_command)
         robot_command = RobotCommandBuilder.build_synchro_command(arm_sync_robot_cmd)
         response = self._robot_command(robot_command)
         return response[0], response[1]