DOCUMENT IT

script/imitator.py

@@ -1,4 +1,6 @@
 #! /usr/bin/env python
+"""The node performing the imitation."""
+
 from argparse import ArgumentParser
 from math import radians
 
@@ -18,6 +20,7 @@ TORSO = False
 
 
 def controller_factory(ctrl):
+    """Create a controller depending on the command line argument."""
     if ctrl == 'nao_cartesian':
         return lambda my_arm_xyz, side: nao_cart_movement(my_arm_xyz, side)
 
@@ -45,8 +48,8 @@ if __name__ == '__main__':
     ll = tf.TransformListener()
 
     while not rospy.is_shutdown():
-        rospy.Rate(20).sleep()
-        if not _inform_masterloop('imitate'):
+        rospy.Rate(20).sleep()  # Run at 20 Hz or something
+        if not _inform_masterloop('imitate'):  # Try to seize the control
             continue
         rospy.logdebug('IMITATOR: ACTIVE')
 
@@ -61,7 +64,7 @@ if __name__ == '__main__':
             # except Exception as e:
                 # rospy.logwarn(e)
 
-        for i, side in enumerate(['L', 'R'], 1):
+        for i, side in enumerate(['L', 'R'], 1):  # One arm at a time
             try:
                 a0, _ = ll.lookupTransform(
                     'odom',
@@ -79,6 +82,9 @@ if __name__ == '__main__':
             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)
+
+            imitation_cycle(my_arm_xyz, side)  # Do the actuation
+
+            # Set hands to sane positions
             mp.setAngles(('LWristYaw', 'RWristYaw'),
                          (radians(-70), radians(70)), 0.3)