From 7050a46979d9634605007b45e42725f832d69ee3 Mon Sep 17 00:00:00 2001
From: Nathan Kau <nathankau@gmail.com>
Date: Tue, 1 Jun 2021 20:46:58 -0700
Subject: [PATCH] Update run_djipupper.py to send joint-space position commands

Update run_djipupper.py to send joint-space position commands rather than cartesian-space position commands. Experimental, ie haven't tested it on my own robot.
---
 run_djipupper.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/run_djipupper.py b/run_djipupper.py
index 878481e8..1d80c85e 100644
--- a/run_djipupper.py
+++ b/run_djipupper.py
@@ -91,8 +91,8 @@ def main(FLAGS):
                         state.activation = 0
                         continue
                     controller.run(state, command)
-                    hardware_interface.set_cartesian_positions(
-                        state.final_foot_locations
+                    hardware_interface.set_actuator_postions(
+                        state.joint_angles
                     )
                     last_loop = now
     except KeyboardInterrupt: