DOCUMENT IT

script/hand_ler.py

@@ -1,4 +1,5 @@
 #! /usr/bin/env python
+"""A small module for hand conrols service."""
 import os
 
 import rospy
@@ -12,6 +13,12 @@ mp = None
 
 
 def do_in_parallel(func):
+    """Open hands in parallel.
+
+    The robot's hand function blocks and only accepts one hand. This is a
+    thread-based hackaround.
+
+    """
     tl = Thread(target=func, args=('LHand',))
     tr = Thread(target=func, args=('RHand',))
     tl.start()
@@ -21,6 +28,7 @@ def do_in_parallel(func):
 
 
 def handle_hands(request):
+    """Hand service routine."""
     if request.target == 'open':
         do_in_parallel(mp.openHand)
         return HandsResponse('opened')