Added comments to 8 functions across 2 files

Author: komment-ai[bot]

IROS_experiments/person_controller_webots/src/person.py

@@ -11,6 +11,18 @@
 
 class Person(Supervisor):
     def __init__(self, person_number):
+        """
+        initializes an instance of `Robot`, which is responsible for controlling
+        a humanoid robot's movement based on user input and BVH animation data.
+        It sets up various fields and methods for controlling the robot's position,
+        rotation, and velocity.
+
+        Args:
+            person_number (int): 3D human character that the function is supposed
+                to animate, and is used to load the appropriate motion data for
+                that character from the library `/usr/local/webots/projects/humans/skin_animated_humans/libraries/bvh_util/libbvh_util.so`.
+
+        """
         parent = os.path.dirname(os.path.realpath(__file__))
         main_directory = os.path.abspath(os.path.join(parent, os.pardir))
         print(main_directory)
@@ -43,6 +55,19 @@ def set_speed(self, data):
         ########## In case the receibed speed is in the person frame ##########
         # if time.time() - self.last_time_sent_velocity > self.time_between_velocity_commands:
         #     self.last_time_sent_velocity = time.time()
+        """
+        takes in the velocity data of a person and calculates the orientation of
+        that person based on the axles of their body. Then it uses the calculated
+        orientation to convert the input velocity to world coordinates, and finally
+        sets the new velocity of the person's node in the scene using PySAM.
+
+        Args:
+            data (float): 6DOF (degree of freedom) velocity input for the person,
+                which is used to calculate the converted linear velocity in the
+                body-centered coordinate system and then passed to the `setVelocity()`
+                method of the `PersonNode`.
+
+        """
         person_orientation = self.person_node.getOrientation()
         orientation = math.atan2(person_orientation[0], person_orientation[1]) - math.pi / 2
         rotation_matrix = np.array(
@@ -57,11 +82,30 @@ def set_speed(self, data):
             [converted_speed[0] / 2.5, converted_speed[1] / 2.5, 0, 0, 0, -data.axes[0].value * math.pi / 2])
 
     def set_initial_pose(self, data):
+        """
+        sets the initial position and orientation of an object based on button
+        input data.
+
+        Args:
+            data (`sf::Data` type in the given code snippet.): 3D transform of the
+                object at the start position, which is used to set the initial
+                pose of the robot when `if data.buttons[3]:` condition is met.
+                
+                		- `buttons`: A 32-bit integer vector representing button states
+                (0 for none, non-zero for pressed buttons).
+                
+
+        """
         if data.buttons[3]:
             self.traslation_field.setSFVec3f(self.start_pose)
             self.rotation_field.setSFRotation(self.start_rotation)
 
     def get_camera_image(self):
+        """
+        captures an image from a person's camera, converts it to RGB format, and
+        displays it using `cv2.imshow()`.
+
+        """
         color = self.person_camera.getImage()
         color_image = cv2.cvtColor(cv2.cvtColor(
             np.frombuffer(color, np.uint8).reshape(self.person_camera.getHeight(), self.person_camera.getWidth(), 4),

IROS_experiments/person_controller_webots/src/specificworker.py

@@ -43,6 +43,19 @@
 
 class SpecificWorker(GenericWorker):
     def __init__(self, proxy_map, startup_check=False):
+        """
+        initializes a SpecificWorker instance with a proxy map and performs necessary
+        actions, including setting environment variables, creating a Person object,
+        and starting a timer for computation tasks.
+
+        Args:
+            proxy_map (dict): mapping of processes to threads in the worker process,
+                allowing for efficient communication between the worker and its proxies.
+            startup_check (bool): whether to execute the startup check during the
+                initialization of the SpecificWorker object, with `True` indicating
+                execution and `False` indicating skipping it.
+
+        """
         super(SpecificWorker, self).__init__(proxy_map)
         self.Period = 16
         if startup_check:
@@ -65,12 +78,33 @@ def setParams(self, params):
         # except:
         #	traceback.print_exc()
         #	print("Error reading config params")
+        """
+        sets inner model path based on configuration parameters provided as input.
+
+        Args:
+            params (dict): configuration parameters to be set for the inner model,
+                which are passed as a dictionary object.
+
+        Returns:
+            `True`.: a boolean value indicating whether the parameter loading was
+            successful.
+            
+            		- `True`: The method was successful in setting the parameters.
+            
+
+        """
         return True
 
 
     @QtCore.Slot()
     def compute(self):
         # print(self.person.step(self.person.timeStep), self.person.timeStep)
+        """
+        executes a motion step on the character model, updates the time using the
+        timeStep attribute, and then runs the BVH animation functions, gets a
+        camera image, and sets the character's speed based on a queue if it exists.
+
+        """
         if self.person.step(self.person.timeStep) != -1:
             t1 = time.time()
             # self.person.bvh_animation_functions.motion_step()
@@ -82,6 +116,12 @@ def compute(self):
 
 
     def startup_check(self):
+        """
+        performs various tests on a `RoboCompJoystickAdapter`, including testing
+        its `AxisParams`, `ButtonParams`, and `TData` properties, and then quits
+        the application after 200 milliseconds.
+
+        """
         print(f"Testing RoboCompJoystickAdapter.AxisParams from ifaces.RoboCompJoystickAdapter")
         test = ifaces.RoboCompJoystickAdapter.AxisParams()
         print(f"Testing RoboCompJoystickAdapter.ButtonParams from ifaces.RoboCompJoystickAdapter")