remove methods from class desc

src/reachy2_sdk/parts/arm.py

@@ -71,22 +71,6 @@ class Arm(JointsBasedPart, IGoToBasedPart):
         elbow (Orbita2d): The elbow actuator of the arm.
         wrist (Orbita3d): The wrist actuator of the arm.
         gripper (Optional[Hand]): The gripper of the arm, if initialized.
-
-    Methods:
-        turn_on: Activate all motors, making the arm stiff.
-        turn_off: Deactivate all motors, making the arm compliant.
-        turn_off_smoothly: Gradually reduce the torque limit over time before turning off.
-        forward_kinematics: Compute the arm's pose based on joint positions.
-        inverse_kinematics: Calculate joint configurations to reach a target pose.
-        goto_from_matrix: Move the arm to a specified 4x4 pose matrix.
-        send_cartesian_interpolation: Perform a movement using Cartesian interpolation.
-        goto_joints: Move the arm's joints to specified positions.
-        translate_by: Move the arm's end effector by a specified translation.
-        rotate_by: Rotate the arm's end effector by specified roll, pitch, and yaw angles.
-        get_translation_by: Get a new pose matrix with a specified translation applied.
-        get_rotation_by: Get a new pose matrix with a specified rotation applied.
-        goto_posture: Move all joints to a standard posture ('default' or 'elbow_90').
-        send_goal_positions: Send goal positions to the gripper and actuators.
     """
 
     def __init__(

src/reachy2_sdk/parts/goto_based_part.py

@@ -19,11 +19,6 @@ class IGoToBasedPart(ABC):
     The `IGoToBasedPart` class defines a common interface for handling goto-based movements. It is
     designed to be implemented by parts of the robot that perform movements via the goto mechanism,
     such as the Arm, Head, or potentially the MobileBase in the future.
-
-    Methods:
-        get_goto_playing: Retrieve the currently playing goto command for a specific part.
-        get_goto_queue: Get a list of all queued goto commands for the part.
-        cancel_all_goto: Cancel all active and pending goto commands for the part.
     """
 
     def __init__(

src/reachy2_sdk/parts/hand.py

@@ -36,15 +36,6 @@ class Hand(Part):
         opening: The opening of the hand as a percentage (0-100), rounded to two decimal places.
         present_position: The current position of the hand in degrees.
         goal_position: The target goal position of the hand in degrees.
-
-    Methods:
-        set_opening: Set the opening value for the hand.
-        send_goal_positions: Send the goal position to the hand actuator.
-        open: Open the hand.
-        close: Close the hand.
-        is_on: Check if the hand is stiff.
-        is_off: Check if the hand is compliant.
-        is_moving: Indicates if the hand is currently moving.
     """
 
     def __init__(

src/reachy2_sdk/parts/head.py

@@ -48,15 +48,6 @@ class Head(JointsBasedPart, IGoToBasedPart):
 
     Attributes:
         neck: An instance of `Orbita3d` representing the neck actuator of the head.
-
-    Methods:
-        get_orientation: Get the current orientation of the head as a quaternion.
-        get_joints_positions: Return the current joint positions of the neck.
-        look_at: Compute and send a neck position to look at a specified point in Cartesian space.
-        goto_joints: Send the neck to specified roll, pitch, and yaw positions.
-        goto_quat: Send the neck to a specified orientation defined by a quaternion.
-        send_goal_positions: Send goal positions to the head's joints.
-        goto_posture: Move all neck joints to standard positions within a specified duration.
     """
 
     def __init__(

src/reachy2_sdk/parts/joints_based_part.py

@@ -21,15 +21,6 @@ class JointsBasedPart(Part):
     The `JointsBasedPart` class serves as a base for parts of the robot that consist of multiple joints,
     such as arms and heads. This class provides common functionality for controlling joints, setting speed
     and torque limits, and managing joint positions.
-
-    Attributes:
-        _joints: A dictionary containing all the joints of the part, with joint names as keys and joint objects as values.
-
-    Methods:
-        get_joints_positions: Abstract method to retrieve the current positions of all joints.
-        send_goal_positions: Abstract method to send goal positions to the part's joints.
-        set_torque_limits: Set the torque limit as a percentage of the maximum torque for all motors.
-        set_speed_limits: Set the speed limit as a percentage of the maximum speed for all motors.
     """
 
     def __init__(

src/reachy2_sdk/parts/mobile_base.py

@@ -50,18 +50,6 @@ class MobileBase(Part):
 
     Attributes:
         lidar: Lidar object for handling safety features.
-
-    Methods:
-        battery_voltage: Returns the current battery voltage.
-        odometry: Returns the current odometry information of the base.
-        last_cmd_vel: Returns the last command velocity sent to the base.
-        reset_odometry: Resets the base's odometry.
-        set_speed: Sends a target speed to the base.
-        translate_by: Translates the base by a specified distance.
-        rotate_by: Rotates the base by a specified angle.
-        goto: Sends the base to a specified target position.
-        is_on: Checks if the base is in stiff mode.
-        is_off: Checks if the base is in free-wheel mode.
     """
 
     def __init__(

src/reachy2_sdk/parts/part.py

@@ -25,13 +25,6 @@ class Part(ABC):
     This class provides a common interface for managing robot components, including turning them on or off, checking their
     status, and updating their states. The class is intended to be subclassed to implement specific behaviors for different
     types of robot parts.
-
-    Methods:
-        turn_on: Turns on the part, setting speed limits before and after.
-        turn_off: Turns off the part with a brief delay to ensure completion.
-        is_on: Checks if all actuators are on.
-        is_off: Checks if all actuators are off.
-        audit: Returns a dictionary with the audit status of all actuators.
     """
 
     def __init__(