Much simplier version of creating the arm_joint_command using an already provided function

Author: llee-bdai

spot_wrapper/wrapper.py

@@ -1329,14 +1329,7 @@ def velocity_cmd(
     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_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)
+        robot_command = RobotCommandBuilder.arm_joint_command(sh0, sh1, el0, el1, wr0, wr1)
         response = self._robot_command(robot_command)
         return response[0], response[1]