From 1e6722ae449bf62fefdce8b316ff272d36214e8c Mon Sep 17 00:00:00 2001
From: Ethan Clark <eclark715@gmail.com>
Date: Mon, 24 Mar 2025 15:18:09 -0700
Subject: [PATCH] add todos

---
 open_phantom/main.py              | 9 ++++++---
 open_phantom/robot_manager.py     | 6 +++---
 open_phantom/utils/handle_urdf.py | 2 +-
 3 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/open_phantom/main.py b/open_phantom/main.py
index 6273556..211dfe9 100644
--- a/open_phantom/main.py
+++ b/open_phantom/main.py
@@ -1,10 +1,13 @@
 import os
 
-from hand_processor import HandProcessor
+from process_hand import ProcessHand
+from robot_manager import RobotManager
+
+# TODO: Move record_video and process_video here
 
 
-def main():
-    processor = HandProcessor()
+def main() -> None:
+    processor = ProcessHand()
 
     record_option = input("Record a new video? (y/n): ")
 
diff --git a/open_phantom/robot_manager.py b/open_phantom/robot_manager.py
index 2d58d85..c96e1fa 100644
--- a/open_phantom/robot_manager.py
+++ b/open_phantom/robot_manager.py
@@ -1,8 +1,8 @@
 import os
-
 import cv2
 import numpy as np
 import pybullet as p
+
 from utils.handle_urdf import handle_urdf
 
 
@@ -21,7 +21,7 @@ class RobotManager:
         self.img_width = int(self.cx * 2)
         self.img_height = int(self.cy * 2)
 
-    # Load the robot URDF into PyBullet
+    # Load robot URDF into PyBullet
     def _load_robot(self, robot_urdf: str) -> int:
         try:
             robot_id = p.loadURDF(
@@ -67,7 +67,7 @@ class RobotManager:
         pass
 
     # Render the robot in some scene using some camera parameters
-    def render_robot(self, bg_image=None, camera_params=None):
+    def render_robot(self, bg_image=None, camera_params=None) -> np.ndarray:
         assert self.robot_id >= 0, "Robot not properly loaded"
 
         # Set up camera parameters
diff --git a/open_phantom/utils/handle_urdf.py b/open_phantom/utils/handle_urdf.py
index 33afc1c..f0d2093 100644
--- a/open_phantom/utils/handle_urdf.py
+++ b/open_phantom/utils/handle_urdf.py
@@ -81,7 +81,7 @@ def handle_urdf(urdf_path: str) -> str:
         print(f"Invalid URDF path: {urdf_path}")
         return None
 
-    # FIXME: Add check to see if URDF needs to be processed
+    # TODO: Add check to see if URDF needs to be processed
 
     try:
         urdf_dir = os.path.dirname(urdf_path)