docs: removed arg types from docstrings

Author: shreyhas

opensourceleg/actuators/base.py

@@ -16,10 +16,10 @@ def check_actuator_connection(func: Callable) -> Callable:
     offline, it raises an ActuatorConnectionException using the actuator's tag.
 
     Args:
-        func (Callable): The method to wrap. It is expected to be an instance method of ActuatorBase.
+        func: The method to wrap. It is expected to be an instance method of ActuatorBase.
 
     Returns:
-        Callable: The wrapped method that executes only if the actuator is online.
+        The wrapped method that executes only if the actuator is online.
 
     Raises:
         ActuatorConnectionException: If the actuator is offline.
@@ -52,10 +52,10 @@ def check_actuator_open(func: Callable) -> Callable:
     it raises an ActuatorConnectionException with the actuator's tag.
 
     Args:
-        func (Callable): The method to wrap. It is expected to be an instance method of ActuatorBase.
+        func: The method to wrap. It is expected to be an instance method of ActuatorBase.
 
     Returns:
-        Callable: The wrapped method that executes only if the actuator is open.
+        The wrapped method that executes only if the actuator is open.
 
     Raises:
         ActuatorConnectionException: If the actuator is not open.
@@ -68,7 +68,6 @@ def check_actuator_open(func: Callable) -> Callable:
         ...
         >>> actuator = MyActuator()
         >>> actuator.my_method()
-
     """
 
     @wraps(func)
@@ -89,10 +88,10 @@ def check_actuator_stream(func: Callable) -> Callable:
     is not streaming, it raises an ActuatorStreamException using the actuator's tag.
 
     Args:
-        func (Callable): The method to wrap. It is expected to be an instance method of ActuatorBase.
+        func: The method to wrap. It is expected to be an instance method of ActuatorBase.
 
     Returns:
-        Callable: The wrapped method that executes only if the actuator is streaming.
+        The wrapped method that executes only if the actuator is streaming.
 
     Raises:
         ActuatorStreamException: If the actuator is not streaming.

opensourceleg/actuators/decorators.py

@@ -297,15 +297,15 @@ def home(
         also load the encoder map if it exists. The encoder map is a polynomial that maps the encoder counts
         to joint position in radians. This is useful for more accurate joint position estimation.
         Args:
-            homing_voltage (int): Voltage in mV to use for homing. Default is 2000 mV.
-            homing_frequency (int): Frequency in Hz to use for homing. Default is the actuator's frequency.
-            homing_direction (int): Direction to move the actuator during homing. Default is -1.
-            joint_direction (int): Direction to move the joint during homing. Default is -1.
-            joint_position_offset (float): Offset in radians to add to the joint position. Default is 0.0.
-            motor_position_offset (float): Offset in radians to add to the motor position. Default is 0.0.
-            current_threshold (int): Current threshold in mA to stop homing the joint or actuator.
+            homing_voltage: Voltage in mV to use for homing. Default is 2000 mV.
+            homing_frequency: Frequency in Hz to use for homing. Default is the actuator's frequency.
+            homing_direction: Direction to move the actuator during homing. Default is -1.
+            joint_direction: Direction to move the joint during homing. Default is -1.
+            joint_position_offset: Offset in radians to add to the joint position. Default is 0.0.
+            motor_position_offset: Offset in radians to add to the motor position. Default is 0.0.
+            current_threshold: Current threshold in mA to stop homing the joint or actuator.
                 This is used to detect if the actuator or joint has hit a hard stop. Default is 5000 mA.
-            velocity_threshold (float): Velocity threshold in rad/s to stop homing the joint or actuator.
+            velocity_threshold: Velocity threshold in rad/s to stop homing the joint or actuator.
                 This is also used to detect if the actuator or joint has hit a hard stop. Default is 0.001 rad/s.
         Examples:
             >>> actuator = DephyActuator(port='/dev/ttyACM0')
@@ -457,7 +457,7 @@ def set_motor_torque(self, value: float) -> None:
         """
         Sets the motor torque in Nm. This is the torque that is applied to the motor rotor, not the joint or output.
         Args:
-            value (float): The torque to set in Nm.
+            value: The torque to set in Nm.
         Returns:
             None
         Examples:
@@ -475,7 +475,7 @@ def set_joint_torque(self, value: float) -> None:
         This is the torque that is applied to the joint, not the motor.
 
         Args:
-            value (float): torque in N_m
+            value: torque in N_m
 
         Returns:
             None
@@ -494,7 +494,7 @@ def set_output_torque(self, value: float) -> None:
         This is the torque that is applied to the joint, not the motor.
 
         Args:
-            value (float): torque in N_m
+            value: torque in N_m
 
         Returns:
             None
@@ -514,7 +514,7 @@ def set_motor_current(
         Sets the motor current in mA.
 
         Args:
-            value (float): The current to set in mA.
+            value: The current to set in mA.
         Returns:
             None
 
@@ -534,15 +534,15 @@ def set_motor_voltage(self, value: float) -> None:
         Sets the motor voltage in mV.
 
         Args:
-            value (float): The voltage to set in mV.
+            value: The voltage to set in mV.
 
         Returns:
             None
 
         Examples:
             >>> actuator = DephyActuator(port='/dev/ttyACM0')
             >>> actuator.start()
-            >>> actuator.set_motor_voltage(100) TODO: Validate number
+            >>> actuator.set_motor_voltage(100)
         """
         self.command_motor_voltage(value=int(value))
 
@@ -556,7 +556,7 @@ def set_motor_position(self, value: float) -> None:
         If in impedance mode, this sets the equilibrium angle in radians.
 
         Args:
-            value (float): The position to set
+            value: The position to set
 
         Returns:
             None
@@ -593,10 +593,10 @@ def set_position_gains(
         Sets the position gains in arbitrary Dephy units.
 
         Args:
-            kp (float): The proportional gain
-            ki (float): The integral gain
-            kd (float): The derivative gain
-            ff (float): The feedforward gain
+            kp: The proportional gain
+            ki: The integral gain
+            kd: The derivative gain
+            ff: The feedforward gain
 
         Returns:
             None
@@ -626,10 +626,10 @@ def set_current_gains(
         Sets the current gains in arbitrary Dephy units.
 
         Args:
-            kp (float): The proportional gain
-            ki (float): The integral gain
-            kd (float): The derivative gain
-            ff (float): The feedforward gain
+            kp: The proportional gain
+            ki: The integral gain
+            kd: The derivative gain
+            ff: The feedforward gain
 
         Returns:
             None
@@ -666,12 +666,12 @@ def set_output_impedance(
             B_motor = B_joint / (gear_ratio ** 2)
 
         Args:
-            kp (float): Proportional gain. Defaults to 40.
-            ki (float): Integral gain. Defaults to 400.
-            kd (float): Derivative gain. Defaults to 0.
-            k (float): Spring constant. Defaults to 100 Nm/rad.
-            b (float): Damping constant. Defaults to 3.0 Nm/rad/s.
-            ff (float): Feedforward gain. Defaults to 128.
+            kp: Proportional gain. Defaults to 40.
+            ki: Integral gain. Defaults to 400.
+            kd: Derivative gain. Defaults to 0.
+            k: Spring constant. Defaults to 100 Nm/rad.
+            b: Damping constant. Defaults to 3.0 Nm/rad/s.
+            ff: Feedforward gain. Defaults to 128.
 
         Returns:
             None
@@ -704,12 +704,12 @@ def set_impedance_gains(
         See Dephy's webpage for conversions or use other library methods that handle conversion for you.
 
         Args:
-            kp (float): The proportional gain
-            ki (float): The integral gain
-            kd (float): The derivative gain
-            k (float): The spring constant
-            b (float): The damping constant
-            ff (float): The feedforward gain
+            kp: The proportional gain
+            ki: The integral gain
+            kd: The derivative gain
+            k: The spring constant
+            b: The damping constant
+            ff: The feedforward gain
 
         Returns:
             None
@@ -741,20 +741,20 @@ def set_motor_impedance(
         Set the impedance gains of the motor in real units: Nm/rad and Nm/rad/s.
 
         Args:
-            kp (float): Proportional gain. Defaults to 40.
-            ki (float): Integral gain. Defaults to 400.
-            kd (float): Derivative gain. Defaults to 0.
-            k (float): Spring constant. Defaults to 0.08922 Nm/rad.
-            b (float): Damping constant. Defaults to 0.0038070 Nm/rad/s.
-            ff (float): Feedforward gain. Defaults to 128.
+            kp: Proportional gain. Defaults to 40.
+            ki: Integral gain. Defaults to 400.
+            kd: Derivative gain. Defaults to 0.
+            k: Spring constant. Defaults to 0.08922 Nm/rad.
+            b: Damping constant. Defaults to 0.0038070 Nm/rad/s.
+            ff: Feedforward gain. Defaults to 128.
 
         Returns:
             None
 
         Examples:
             >>> actuator = DephyActuator(port='/dev/ttyACM0')
             >>> actuator.start()
-            >>> actuator.set_motor_impedance(kp=40, ki=400, kd=0, k=0.08922, b=0.0038070, ff=128) TODO: Validate numbers
+            >>> actuator.set_motor_impedance(kp=40, ki=400, kd=0, k=0.08922, b=0.0038070, ff=128)
         """
         self.set_impedance_gains(
             kp=kp,
@@ -770,7 +770,7 @@ def set_encoder_map(self, encoder_map: np.polynomial.polynomial.Polynomial) -> N
         Sets the joint encoder map
 
         Args:
-            encoder_map (np.polynomial.polynomial.Polynomial): The encoder map to set
+            encoder_map: The encoder map to set
 
         Returns:
             None
@@ -1478,7 +1478,7 @@ def set_motor_current(
         Sets the motor current in mA.
 
         Args:
-            value (float): The current to set in mA.
+            value: The current to set in mA.
         """
         self.send_motor_command(ctrl_mode=c_int(self.mode.value), value=int(value))
 
@@ -1491,7 +1491,15 @@ def set_motor_voltage(self, value: float) -> None:
         Sets the motor voltage in mV.
 
         Args:
-            value (float): The voltage to set in mV.
+            value: The voltage to set in mV.
+
+        Returns:
+            None
+
+        Examples:
+            >>> actuator = DephyActuator(port='/dev/ttyACM0')
+            >>> actuator.start()
+            >>> actuator.set_motor_voltage(100)
         """
         self.send_motor_command(ctrl_mode=c_int(self.mode.value), value=int(value))
 
@@ -1505,7 +1513,15 @@ def set_motor_position(self, value: float) -> None:
         If in impedance mode, this sets the equilibrium angle in radians.
 
         Args:
-            value (float): The position to set
+            value: The position to set
+
+        Returns:
+            None
+
+        Examples:
+            >>> actuator = DephyActuator(port='/dev/ttyACM0')
+            >>> actuator.start()
+            >>> actuator.set_motor_position(0.1)
         """
         self.send_motor_command(
             ctrl_mode=c_int(self.mode.value),

opensourceleg/actuators/dephy.py

@@ -283,7 +283,7 @@ def set_motor_torque(self, value: float) -> None:
         Sets the motor torque in Nm.
 
         Args:
-            value (float): The torque to set in Nm.
+            value: The torque to set in Nm.
         """
         self._command = self.make_position(
             position=math.nan,
@@ -302,7 +302,7 @@ def set_joint_torque(self, value: float) -> None:
         This is the torque that is applied to the joint, not the motor.
 
         Args:
-            value (float): torque in N_m
+            value: torque in N_m
         """
         self.set_motor_torque(value=value / self.gear_ratio)
 
@@ -325,7 +325,7 @@ def set_motor_voltage(self, value: float) -> None:
         Sets the motor voltage in mV.
 
         Args:
-            value (float): The voltage to set in mV.
+            value: The voltage to set in mV.
         """
         LOGGER.info("Voltage Mode Not Implemented")
 
@@ -335,7 +335,7 @@ def set_motor_position(self, value: float) -> None:
         If in impedance mode, this sets the equilibrium angle in radians.
 
         Args:
-            value (float): The position to set
+            value: The position to set
         """
         self._command = self.make_position(
             position=float((value) / (2 * np.pi)),  # TODO: Verify this conversion, are we converting from rad to rev?
@@ -352,8 +352,8 @@ async def set_torque_gains(
         Sets the position gains in arbitrary Moteus units.
 
         Args:
-            kp (float): The proportional gain
-            ki (float): The integral gain
+            kp: The proportional gain
+            ki: The integral gain
         """
         await self._stream.command(f"conf set servo.pid_dq.kp {kp}".encode())
         await self._stream.command(f"conf set servo.pid_dq.ki {ki}".encode())
@@ -369,10 +369,10 @@ async def set_position_gains(
         Sets the position gains in arbitrary Moteus units.
 
         Args:
-            kp (float): The proportional gain
-            ki (float): The integral gain
-            kd (float): The derivative gain
-            ff (float): The feedforward gain
+            kp: The proportional gain
+            ki: The integral gain
+            kd: The derivative gain
+            ff: The feedforward gain
         """
         await self._stream.command(f"conf set servo.pid_position.kp {kp}".encode())
         await self._stream.command(f"conf set servo.pid_position.ki {ki}".encode())
@@ -389,10 +389,10 @@ async def set_velocity_gains(
         Sets the position gains in arbitrary Moteus units.
 
         Args:
-            kp (float): The proportional gain
-            ki (float): The integral gain
-            kd (float): The derivative gain
-            ff (float): The feedforward gain
+            kp: The proportional gain
+            ki: The integral gain
+            kd: The derivative gain
+            ff: The feedforward gain
         """
         await self._stream.command(f"conf set servo.pid_position.kp {kp}".encode())
         await self._stream.command(f"conf set servo.pid_position.ki {ki}".encode())
@@ -409,10 +409,10 @@ def set_current_gains(
         Sets the current gains in arbitrary Moteus units.
 
         Args:
-            kp (float): The proportional gain
-            ki (float): The integral gain
-            kd (float): The derivative gain
-            ff (float): The feedforward gain
+            kp: The proportional gain
+            ki: The integral gain
+            kd: The derivative gain
+            ff: The feedforward gain
         """
         LOGGER.info(msg=f"[{self.__repr__()}] Current mode not implemented.")
 
@@ -425,6 +425,17 @@ def set_impedance_gains(
         b: float = DEFAULT_IMPEDANCE_GAINS.b,
         ff: float = DEFAULT_IMPEDANCE_GAINS.ff,
     ) -> None:
+        """
+        Sets the impedance gains in arbitrary Moteus units.
+
+        Args:
+            kp: The proportional gain
+            ki: The integral gain
+            kd: The derivative gain
+            k: The stiffness gain
+            b: The damping gain
+            ff: The feedforward gain
+        """
         LOGGER.info(msg=f"[{self.__repr__()}] Impedance mode not implemented.")
 
     @property