__init__ clas desc

src/reachy2_sdk/parts/goto_based_part.py

@@ -26,7 +26,16 @@ def __init__(
         part: Part,
         goto_stub: GoToServiceStub,
     ) -> None:
-        """Initialize the common attributes."""
+        """Initialize the IGoToBasedPart interface.
+
+        Sets up the common attributes needed for handling goto-based movements. This includes
+        associating the part with the interface and setting up the gRPC stub for performing
+        goto commands.
+
+        Args:
+            part: The robot part that uses this interface, such as an Arm or Head.
+            goto_stub: The gRPC stub used to send goto commands to the robot part.
+        """
         self.part = part
         self._goto_stub = goto_stub
 

src/reachy2_sdk/parts/hand.py

@@ -44,7 +44,16 @@ def __init__(
         initial_state: HandState,
         grpc_channel: grpc.Channel,
     ) -> None:
-        """Set up the hand."""
+        """Initialize the Hand component.
+
+        Sets up the necessary attributes and configuration for the hand, including the gRPC
+        stub and initial state.
+
+        Args:
+            hand_msg: The Hand_proto object containing the configuration details for the hand.
+            initial_state: The initial state of the hand, represented as a HandState object.
+            grpc_channel: The gRPC channel used to communicate with the hand's gRPC service.
+        """
         super().__init__(hand_msg, grpc_channel, HandServiceStub(grpc_channel))
         self._hand_stub = HandServiceStub(grpc_channel)
 

src/reachy2_sdk/parts/head.py

@@ -57,7 +57,18 @@ def __init__(
         grpc_channel: grpc.Channel,
         goto_stub: GoToServiceStub,
     ) -> None:
-        """Initialize the head with its actuators."""
+        """Initialize the Head component with its actuators.
+
+        Sets up the necessary attributes and configuration for the head, including the gRPC
+        stubs and initial state.
+
+        Args:
+            head_msg: The Head_proto object containing the configuration details for the head.
+            initial_state: The initial state of the head, represented as a HeadState object.
+            grpc_channel: The gRPC channel used to communicate with the head's gRPC service.
+            goto_stub: The GoToServiceStub used to handle goto-based movements for the head.
+        """
+
         JointsBasedPart.__init__(self, head_msg, grpc_channel, HeadServiceStub(grpc_channel))
         IGoToBasedPart.__init__(self, self, goto_stub)
 

src/reachy2_sdk/parts/joints_based_part.py

@@ -29,7 +29,18 @@ def __init__(
         grpc_channel: grpc.Channel,
         stub: ArmServiceStub | HeadServiceStub | MobileBaseUtilityServiceStub,
     ) -> None:
-        """Initialize the common attributes."""
+        """Initialize the JointsBasedPart with its common attributes.
+
+        Sets up the gRPC communication channel and service stub for controlling the joint-based
+        part of the robot, such as an arm or head.
+
+        Args:
+            proto_msg: A protocol message representing the part's configuration. It can be an
+                Arm_proto, Head_proto, or MobileBase_proto object.
+            grpc_channel: The gRPC channel used to communicate with the corresponding service.
+            stub: The service stub for the gRPC communication, which can be an ArmServiceStub,
+                HeadServiceStub, or MobileBaseUtilityServiceStub, depending on the part type.
+        """
         super().__init__(proto_msg, grpc_channel, stub)
 
     @property

src/reachy2_sdk/parts/mobile_base.py

@@ -58,7 +58,18 @@ def __init__(
         initial_state: MobileBaseState,
         grpc_channel: grpc.Channel,
     ) -> None:
-        """Set up the connection with the mobile base."""
+        """Initialize the MobileBase with its gRPC communication and configuration.
+
+        This sets up the gRPC communication channel and service stubs for controlling the
+        mobile base, initializes the drive and control modes.
+        It also sets up the LIDAR safety monitoring.
+
+        Args:
+            mb_msg: A MobileBase_proto message containing the configuration details for the mobile base.
+            initial_state: The initial state of the mobile base, as a MobileBaseState object.
+            grpc_channel: The gRPC channel used to communicate with the mobile base service.
+        """
+
         self._logger = logging.getLogger(__name__)
         super().__init__(mb_msg, grpc_channel, MobileBaseUtilityServiceStub(grpc_channel))
 

src/reachy2_sdk/parts/part.py

@@ -33,7 +33,19 @@ def __init__(
         grpc_channel: grpc.Channel,
         stub: ArmServiceStub | HeadServiceStub | HandServiceStub | MobileBaseUtilityServiceStub,
     ) -> None:
-        """Initialize the common attributes."""
+        """Initialize the Part with common attributes for gRPC communication.
+
+        This sets up the communication channel and service stubs for the specified part,
+        configures the part's unique identifier. It provides the foundation for specific parts of the robot
+        (Arm, Head, Hand, MobileBase) to be derived from this class.
+
+        Args:
+            proto_msg: The protobuf message containing configuration details for the part
+                (Arm, Head, Hand, or MobileBase).
+            grpc_channel: The gRPC channel used to communicate with the service.
+            stub: The service stub for the gRPC communication, which could be for Arm, Head,
+                Hand, or MobileBase.
+        """
         self._grpc_channel = grpc_channel
         self._stub = stub
         self._part_id = PartId(id=proto_msg.part_id.id, name=proto_msg.part_id.name)