facebookresearch / facebookresearch/fairo
[Polymetis] Code duplication between Allegro client and Franka client
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Description
## Type of Issue
Select the type of issue:
- [ ] Bug report (to report a bug)
- [ ] Feature request (to request an additional feature)
- [ ] Tracker (I am just using this as a tracker)
- [x] Refactor request
- [ ] Documentation Ask
## Description
Lots of copied code introduced in #1007, especially between `AllegroHandTorqueControlClient ` and `FrankaTorqueControlClient`. Should deduplicate by maybe having a `TorqueControlClient` base class.
Contributor guide
Research direction
Start by locating AllegroHandTorqueControlClient and FrankaTorqueControlClient, then compare the duplicated code introduced in #1007. Determine the shared behavior that belongs in a TorqueControlClient base class, and confirm that both clients retain their existing behavior after the duplication is removed.
Written by the indexing model from the issue text.
Assessment
- Domain
- robotics
- Issue type
- Refactor
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100