Hi, Pär :)

Author: lvaddi

bitbots_motion/bitbots_dynup/src/dynup_engine.cpp

@@ -595,18 +595,18 @@ double DynupEngine::calcWalkreadySplines(double time, double travel_time) {
   r_foot_spline_.pitch()->addPoint(time, -params_.end_pose.trunk_pitch * M_PI / 180);
   r_foot_spline_.yaw()->addPoint(time, 0);
 
-  l_hand_spline_.x()->addPoint(time, 0);
-  l_hand_spline_.y()->addPoint(time, 0);
-  l_hand_spline_.z()->addPoint(time, params_.end_pose.hand_walkready_height);
-  l_hand_spline_.roll()->addPoint(time, 0);
-  l_hand_spline_.pitch()->addPoint(time, params_.end_pose.hand_walkready_pitch * M_PI / 180);
-  l_hand_spline_.yaw()->addPoint(time, 0);
-  r_hand_spline_.x()->addPoint(time, 0);
-  r_hand_spline_.y()->addPoint(time, 0);
-  r_hand_spline_.z()->addPoint(time, params_.end_pose.hand_walkready_height);
-  r_hand_spline_.roll()->addPoint(time, 0);
-  r_hand_spline_.pitch()->addPoint(time, params_.end_pose.hand_walkready_pitch * M_PI / 180);
-  r_hand_spline_.yaw()->addPoint(time, 0);
+  // l_hand_spline_.x()->addPoint(time, 0);
+  // l_hand_spline_.y()->addPoint(time, 0);
+  // l_hand_spline_.z()->addPoint(time, params_.end_pose.hand_walkready_height);
+  // l_hand_spline_.roll()->addPoint(time, 0);
+  // l_hand_spline_.pitch()->addPoint(time, params_.end_pose.hand_walkready_pitch * M_PI / 180);
+  // l_hand_spline_.yaw()->addPoint(time, 0);
+  // r_hand_spline_.x()->addPoint(time, 0);
+  // r_hand_spline_.y()->addPoint(time, 0);
+  // r_hand_spline_.z()->addPoint(time, params_.end_pose.hand_walkready_height);
+  // r_hand_spline_.roll()->addPoint(time, 0);
+  // r_hand_spline_.pitch()->addPoint(time, params_.end_pose.hand_walkready_pitch * M_PI / 180);
+  // r_hand_spline_.yaw()->addPoint(time, 0);
 
   return time;
 }