Address review: use @Property wrappers instead of direct assignment

Author: iory

skrobot/model/robot_model.py

@@ -1866,9 +1866,10 @@ def init_pose(self):
                                 self.joint_max_angles)
         return self.angle_vector(target_angles)
 
-    # New naming convention properties (forward compatibility)
+    # New naming convention properties with more intuitive full names.
     # These provide access using full names (right_arm, left_arm, etc.)
-    # while maintaining backward compatibility with abbreviated names.
+    # while keeping the abbreviated names (rarm, larm, etc.) available for
+    # backward compatibility.
 
     def _get_limb(self, attr_name):
         """Get limb by attribute name, returning None if not available."""
@@ -1877,6 +1878,7 @@ def _get_limb(self, attr_name):
             if isinstance(limb, RobotModel):
                 return limb
         except NotImplementedError:
+            # Some robot models raise NotImplementedError for unsupported limbs
             pass
         return None
 
@@ -1887,6 +1889,7 @@ def _get_end_coords(self, attr_name):
             if isinstance(coords, CascadedCoords):
                 return coords
         except NotImplementedError:
+            # Some robot models raise NotImplementedError for unsupported coords
             pass
         return None
 

skrobot/models/fetch.py

@@ -87,8 +87,13 @@ def rarm_with_torso(self):
         return r
 
     # New naming convention aliases (backward compatible)
-    arm = rarm
-    arm_with_torso = rarm_with_torso
+    @property
+    def arm(self):
+        return self.rarm
+
+    @property
+    def arm_with_torso(self):
+        return self.rarm_with_torso
 
     @property
     def arm_end_coords(self):

skrobot/models/kuka.py

@@ -63,7 +63,9 @@ def open_hand(self, default_angle=np.deg2rad(10), av=None):
         return self.angle_vector(av)
 
     # New naming convention aliases (backward compatible)
-    arm = rarm
+    @property
+    def arm(self):
+        return self.rarm
 
     @property
     def arm_end_coords(self):

skrobot/models/nextage.py

@@ -107,8 +107,13 @@ def torso(self):
         return model
 
     # New naming convention aliases (backward compatible)
-    right_arm = rarm
-    left_arm = larm
+    @property
+    def right_arm(self):
+        return self.rarm
+
+    @property
+    def left_arm(self):
+        return self.larm
 
     @property
     def right_arm_end_coords(self):

skrobot/models/panda.py

@@ -59,7 +59,9 @@ def rarm(self):
         return model
 
     # New naming convention aliases (backward compatible)
-    arm = rarm
+    @property
+    def arm(self):
+        return self.rarm
 
     @property
     def arm_end_coords(self):

skrobot/models/pr2.py

@@ -157,10 +157,21 @@ def head(self):
         return r
 
     # New naming convention aliases (backward compatible)
-    right_arm = rarm
-    left_arm = larm
-    right_arm_with_torso = rarm_with_torso
-    left_arm_with_torso = larm_with_torso
+    @property
+    def right_arm(self):
+        return self.rarm
+
+    @property
+    def left_arm(self):
+        return self.larm
+
+    @property
+    def right_arm_with_torso(self):
+        return self.rarm_with_torso
+
+    @property
+    def left_arm_with_torso(self):
+        return self.larm_with_torso
 
     @property
     def right_arm_end_coords(self):

skrobot/models/r8_6.py

@@ -265,10 +265,21 @@ def elv(self):
         return elv_model
 
     # New naming convention aliases (backward compatible)
-    right_arm = rarm
-    left_arm = larm
-    right_arm_with_torso = rarm_with_torso
-    left_arm_with_torso = larm_with_torso
+    @property
+    def right_arm(self):
+        return self.rarm
+
+    @property
+    def left_arm(self):
+        return self.larm
+
+    @property
+    def right_arm_with_torso(self):
+        return self.rarm_with_torso
+
+    @property
+    def left_arm_with_torso(self):
+        return self.larm_with_torso
 
     @property
     def right_arm_end_coords(self):