Merge pull request #983 from tue-robotics/dont-have-named-arm-parts2

Dont have named arm parts, try2

robot_skills/examples/example_arms.py

@@ -21,11 +21,11 @@
 failed_actions_per_arm = {}
 
 # First make sure the arms are in a known state
-for side, arm in robot.arms.items():
+for side, arm in robot._arms.items():
     robot.speech.speak("I will first reset my {} arm".format(side))
     arm.reset()
 
-for side, arm in robot.arms.items():
+for side, arm in robot._arms.items():
     failed_actions = []
     robot.speech.speak("I will test my {} arm".format(side))
 

robot_skills/src/robot_skills/hero.py

@@ -48,9 +48,9 @@ def __init__(self, wait_services=False):
         self.parts['leftArm'].joint_names = self.parts['leftArm'].load_param('skills/arm/joint_names')
 
         # These don't work for HSR because (then) Toyota's diagnostics aggregator makes the robot go into error somehow
-        for arm in self.arms.itervalues():
+        for arm in self._arms.itervalues():
             arm.unsubscribe_hardware_status()
-        for arm in self.arms.itervalues():
+        for arm in self._arms.itervalues():
             arm._operational = True
 
         # verify joint goal required for posing

robot_skills/src/robot_skills/mockbot.py

@@ -387,10 +387,10 @@ def __exit__(self, exception_type, exception_val, trace):
 
     head_reset = lambda: mockbot.head.reset()
     head_down  = lambda: mockbot.head.reset()
-    right_close = lambda: mockbot.arms['rightArm'].send_gripper_goal_close()
-    left_close = lambda: mockbot.arms['leftArm'].send_gripper_goal_close()
-    right_open = lambda: mockbot.arms['rightArm'].send_gripper_goal_open()
-    left_open = lambda: mockbot.arms['leftArm'].send_gripper_goal_open()
+    right_close = lambda: mockbot._arms['rightArm'].send_gripper_goal_close()
+    left_close = lambda: mockbot._arms['leftArm'].send_gripper_goal_close()
+    right_open = lambda: mockbot._arms['rightArm'].send_gripper_goal_open()
+    left_open = lambda: mockbot._arms['leftArm'].send_gripper_goal_open()
     speak = lambda sentence: mockbot.speech.speak(sentence, block=False)
     praat = lambda sentence: mockbot.speech.speak(sentence, language='nl', block=False)
     look_at_point = lambda x, y, z: mockbot.head.look_at_point(VectorStamped(x, y, z, frame_id="/mockbot/base_link"))

robot_skills/src/robot_skills/robot.py

@@ -30,8 +30,9 @@ def __init__(self, robot_name="", wait_services=False, tf_listener=None):
 
         # Body parts
         self.parts = dict()
-        self.arms = OrderedDict()  # type: OrderedDict[arms.Arm]
+
         # Ensuring arms have a fixed order of iteration.
+        self._arms = OrderedDict()  # type: OrderedDict[arms.Arm]
 
         # Ignore diagnostics: parts that are not present in the real robot
         self._ignored_parts = []
@@ -63,12 +64,13 @@ def add_body_part(self, partname, bodypart):
 
     def add_arm_part(self, arm_name, arm_part):
         """
-        Add an arm part to the robot. This is added to the parts dictionary and in the self.arms dictionary.
+        Add an arm part to the robot. This is added to the parts dictionary as well.
         :param arm_name: Name of the arm part.
         :param arm_part: Arm part object
         """
+        # Don't add the arm to the robot object to avoid direct access from challenge code.
         self.parts[arm_name] = arm_part
-        self.arms[arm_name] = arm_part
+        self._arms[arm_name] = arm_part
 
     def configure(self):
         """
@@ -106,11 +108,11 @@ def configure(self):
 
     @decorators.deprecated_replace_with('robot.get_arm')
     def leftArm(self):
-        return self.arms['leftArm']
+        return self._arms.get('left')
 
     @decorators.deprecated_replace_with('robot.get_arm')
     def rightArm(self):
-        return self.arms['rightArm']
+        return self._arms.get('right')
 
     def reset(self):
         results = {}
@@ -127,9 +129,9 @@ def standby(self):
             rospy.logerr('Standby only works for amigo')
             return
 
-        for arm in self.arms.values():
+        for arm in self._arms.itervalues():
             arm.reset()
-        for arm in self.arms.values():
+        for arm in self._arms.itervalues():
             arm.send_gripper_goal('close')
 
         self.head.look_down()
@@ -203,7 +205,7 @@ def seq_or_none(obj):
         assert seq_or_none(required_objects)
         assert seq_or_none(desired_objects)
 
-        for arm_name, arm in self.arms.items():
+        for arm_name, arm in self._arms.iteritems():
             if not arm.operational:
                 discarded_reasons.append((arm_name, "not operational"))
                 continue