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fake spot get state fix #53

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fake spot get state fix #53

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7 changes: 5 additions & 2 deletions spot_tools/src/spot_executor/fake_spot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
import time
from dataclasses import dataclass
from importlib.resources import as_file, files
from types import SimpleNamespace

import cv2
import numpy as np
Expand Down Expand Up @@ -279,8 +280,10 @@ def set_pose(self, pose):
self.pose = pose

def get_state(self):
raise NotImplementedError(
"get_state not implemented for FakeSpot (what is it supposed to return?)"
return SimpleNamespace(
manipulator_state=SimpleNamespace(is_gripper_holding_item=False),
kinematic_state=SimpleNamespace(transforms_snapshot=FrameTreeSnapshot()),
behavior_fault_state=SimpleNamespace(faults=[]),
)

def get_image_RGB(self, view="hand_color_image", show=False):
Expand Down