more documentation

script/imitator.py

@@ -1,5 +1,9 @@
 #! /usr/bin/env python
-"""The node performing the imitation."""
+"""The node performing the imitation.
+
+ROS Node: `imitator`
+Uses `inform_masterloop` service.
+"""
 
 from argparse import ArgumentParser
 from math import radians
@@ -79,9 +83,9 @@ if __name__ == '__main__':
             except Exception as e:
                 rospy.logwarn(e)
                 continue
+
+            # Calculate the position of the hand in my chest frame
             my_arm_xyz = np.array(arm) - np.array(a0)
-            # rospy.loginfo('{}'.format(my_arm_xyz))
-            # rospy.loginfo('{}'.format(dumb(my_arm_xyz, side)))
 
             imitation_cycle(my_arm_xyz, side)  # Do the actuation