orbita_joint.py under Google format

src/reachy2_sdk/orbita/orbita_joint.py

@@ -41,14 +41,28 @@ def __repr__(self) -> str:
 
     @property
     def present_position(self) -> float:
+        """Get the present position of the joint in degrees."""
         return to_position(self._present_position)
 
     @property
     def goal_position(self) -> float:
+        """Get the goal position of the joint in degrees."""
         return to_position(self._goal_position)
 
     @goal_position.setter
     def goal_position(self, value: float | int) -> None:
+        """Set the goal position of the joint in degrees.
+
+        The goal position is not send to the joint immediately, it is stored locally until the `send_goal_positions` method
+        is called.
+
+        Args:
+            value: The goal position to set, specified as a float or int.
+
+        Raises:
+            TypeError: If the provided value is not a float or int.
+        """
+
         if isinstance(value, float) | isinstance(value, int):
             self._actuator._set_outgoing_goal_position(self._axis_type, to_internal_position(value))
         else:
@@ -62,9 +76,21 @@ def goto(
         interpolation_mode: str = "minimum_jerk",
         degrees: bool = True,
     ) -> GoToId:
-        """Send the joint to the goal position in duration.
+        """Send the joint to the specified goal position within a given duration.
 
-        Acts like a goto movements on the part, goto on joints are stacked on the part they belong to.
+        Acts like a "goto" movement on the part, where "goto" movements for joints are queued on the part they belong to.
+
+        Args:
+            goal_position: The target position to move the joint to.
+            duration: The time in seconds for the joint to reach the goal position. Defaults to 2.
+            wait: Whether to wait for the movement to finish before continuing. Defaults to False.
+            interpolation_mode: The type of interpolation to use for the movement, either "minimum_jerk" or "linear".
+                Defaults to "minimum_jerk".
+            degrees: Whether the goal position is specified in degrees. If True, the position is interpreted as degrees.
+                Defaults to True.
+
+        Returns:
+            The GoToId associated with the movement command.
         """
         return self._actuator._part._goto_single_joint(
             self._position_order_in_part,
@@ -76,5 +102,11 @@ def goto(
         )
 
     def _update_with(self, new_state: Dict[str, FloatValue]) -> None:
+        """Update the present and goal positions of the joint with new state values.
+
+        Args:
+            new_state: A dictionary containing the new state values for the joint. The keys should include
+                "present_position" and "goal_position", with corresponding FloatValue objects as values.
+        """
         self._present_position = new_state["present_position"].value
         self._goal_position = new_state["goal_position"].value