Move arm handover #1023
Move arm handover #1023
Conversation
| self.robot_name = robot_name | ||
| self.arm_name = arm_name | ||
|
|
||
| def handover_to_human(self, timeout=10): |
There was a problem hiding this comment.
The definitions handover_to_human and handover_to_robot are now defined twice (here and in the arm class). I think they can be removed here if the functionality (return exchange_with_human) is shifted to the arm class.
There was a problem hiding this comment.
Actually, this and #1024 are the start of cleaning out the much of the Arm class by decomposing its code into a set of smaller interfaces. this and #1024 are the first steps in that.
However, since that is a complicated operation on a crucial part of the robot, I am taking baby steps, using knowledge gained in #1011. As such, your suggestion is in the opposite direction of what is being aimed for :)
There was a problem hiding this comment.
I like that you are taking small steps and I think it is not a big issue to have a little bit of duplicate code, but I guess that in the end we want to get rid of this. But for now I guess this is fine.
| """ | ||
| return self._exchange_with_human(True, timeout) | ||
|
|
||
| def _exchange_with_human(self, to_robot, timeout=10): |
There was a problem hiding this comment.
Good idea to combine this! I like it!
First step of arm splitting, move the handover function to its own class.