Ideas

[BlGene]

Just to note down a couple of my ideas.

1. It should probably be possible to do this in one line.

if prev_wp is not None and prev_wp.grip != wp.grip:
    if wp.grip == 0:
        robot.close_gripper(blocking=True)
    elif wp.grip == 1:
        robot.open_gripper(blocking=True)
    else:
        raise ValueError

2. Input devices should be as interchangeable as possible.

KeyboardInput SpaceMouse -> handle_keyboard_events ->  get_absolute_action, get_relative_action