Arm joint commands wrapper function

spot_wrapper/wrapper.py

@@ -1324,6 +1324,28 @@ 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]:
+        """
+
+        Send a single point arm joint command to the robot.
+
+        Args:
+            sh0: shoulder joint angle
+            sh1: shoulder joint angle
+            el0: elbow joint angle
+            el1: elbow joint angle
+            wr0: wrist joint angle
+            wr1: wrist joint angle
+
+        Returns:
+            Tuple of bool success and a string message
+        """
+        robot_command = RobotCommandBuilder.arm_joint_command(sh0, sh1, el0, el1, wr0, wr1)
+        response = self._robot_command(robot_command)
+        return response[0], response[1]
+
     def trajectory_cmd(
         self,
         goal_x: float,