📝 Add docstrings to ut_dog

omagent-core/src/omagent_core/tool_system/tools/ut_dog/free_avoid.py

@@ -41,6 +41,17 @@ class Config:
     network_interface_name: Optional[str]
 
     def __init__(self, **data: Any) -> None:
+        """
+        Initialize a FreeAvoid instance with communication channel and client.
+
+        This method initializes the base class with any provided keyword arguments,
+        sets up the communication channel via ChannelFactoryInitialize using the instance's
+        network interface, and configures a SportClient with a 10-second timeout before
+        finalizing its initialization.
+
+        Args:
+            **data: Additional keyword arguments for tool configuration.
+        """
         super().__init__(**data)
         ChannelFactoryInitialize(0, self.network_interface_name)
         self.sport_client = SportClient()  
@@ -50,6 +61,12 @@ def __init__(self, **data: Any) -> None:
     @field_validator("network_interface_name")
     @classmethod
     def network_interface_name_validator(cls, network_interface_name: Union[str, None]) -> Union[str, None]:
+        """
+        Validates that a network interface name is provided.
+
+        Checks that the given network interface name is not None. Raises a ValueError if no name is provided,
+        otherwise returns the network interface name.
+        """
         if network_interface_name == None:
             raise ValueError("network interface name is not provided.")
         return network_interface_name
@@ -59,7 +76,15 @@ def _run(
         switch: bool = True
     ) -> Dict[str, Any]:
         """
-        Control the Unitree Go2 robot to free avoid.
+        Executes the free avoid command on the Unitree Go2 robot.
+
+        This method sends a command to control the robot's free avoid behavior using the sport_client. The provided switch flag determines whether to enable (True) or disable (False) free avoid. On success, it returns a dictionary with a success code and message; if an exception occurs, it logs the error and returns a failure dictionary.
+
+        Args:
+            switch (bool): True to enable free avoid, False to disable it.
+
+        Returns:
+            dict: A dictionary containing a status code and message indicating the outcome.
         """
 
         try:

omagent-core/src/omagent_core/tool_system/tools/ut_dog/move.py

@@ -51,6 +51,13 @@ class Config:
     network_interface_name: Optional[str]
 
     def __init__(self, **data: Any) -> None:
+        """
+        Initializes the Move instance and configures its SportClient.
+
+        Passes keyword arguments to the base class, initializes the communication channel
+        using the specified network interface, and sets up a SportClient with a 10-second
+        timeout before establishing its connection.
+        """
         super().__init__(**data)
         ChannelFactoryInitialize(0, self.network_interface_name)
         self.sport_client = SportClient()  
@@ -60,6 +67,17 @@ def __init__(self, **data: Any) -> None:
     @field_validator("network_interface_name")
     @classmethod
     def network_interface_name_validator(cls, network_interface_name: Union[str, None]) -> Union[str, None]:
+        """
+        Validate that a network interface name is provided.
+
+        Ensures that a network interface name is supplied. Raises a ValueError if the value is None.
+
+        Raises:
+            ValueError: If network_interface_name is None.
+
+        Returns:
+            The provided network interface name.
+        """
         if network_interface_name == None:
             raise ValueError("network interface name is not provided.")
         return network_interface_name
@@ -71,7 +89,21 @@ def _run(
         vyaw: float = 0
     ) -> Dict[str, Any]:
         """
-        Control the Go2 to move.
+        Sends a movement command to the Unitree Go2 robot.
+
+        This method uses the sport client to move the robot with the specified
+        velocities along the x and y axes and a specified yaw rotation. If the
+        movement command executes successfully, it returns a success response;
+        otherwise, it logs the error and returns a failure response.
+
+        Parameters:
+            vx (float): Movement along the x-axis. Defaults to 0.
+            vy (float): Movement along the y-axis. Defaults to 0.
+            vyaw (float): Rotation around the z-axis. Defaults to 0.
+
+        Returns:
+            dict: A response dictionary with keys 'code' and 'msg', where 'code' is 0 for
+                  success and 500 for failure.
         """
 
         try:

omagent-core/src/omagent_core/tool_system/tools/ut_dog/stand_down.py

@@ -36,6 +36,16 @@ class Config:
     network_interface_name: Optional[str]
 
     def __init__(self, **data: Any) -> None:
+        """
+        Initializes the StandDown tool and configures its SportClient.
+
+        Sets up the base tool using provided keyword arguments, initializes the network
+        channel with the specified interface, and prepares a SportClient with a 10-second
+        timeout for communication.
+
+        Args:
+            **data: Arbitrary keyword arguments for tool configuration.
+        """
         super().__init__(**data)
         ChannelFactoryInitialize(0, self.network_interface_name)
         self.sport_client = SportClient()  
@@ -45,6 +55,15 @@ def __init__(self, **data: Any) -> None:
     @field_validator("network_interface_name")
     @classmethod
     def network_interface_name_validator(cls, network_interface_name: Union[str, None]) -> Union[str, None]:
+        """
+        Ensures a network interface name is provided.
+
+        Raises:
+            ValueError: If no network interface name is provided.
+
+        Returns:
+            str: The provided network interface name.
+        """
         if network_interface_name == None:
             raise ValueError("network interface name is not provided.")
         return network_interface_name
@@ -53,7 +72,11 @@ def _run(
         self
     ) -> Dict[str, Any]:
         """
-        Control the Go2 to stand down.
+        Attempts to command the Unitree Go2 robot to stand down.
+
+        Returns:
+            Dict[str, Any]: A dictionary with the operation's status where "code" is 0 for success 
+            and 500 for failure, and "msg" indicates "success" or "failed" accordingly.
         """
 
         try:

omagent-core/src/omagent_core/tool_system/tools/ut_dog/stand_up.py

@@ -36,6 +36,13 @@ class Config:
     network_interface_name: Optional[str]
 
     def __init__(self, **data: Any) -> None:
+        """
+        Initialize the StandUp tool.
+
+        Initializes the base tool with the provided data, configures the channel factory
+        with the designated network interface, and sets up a sport client with a timeout
+        of 10 seconds for robot communication.
+        """
         super().__init__(**data)
         ChannelFactoryInitialize(0, self.network_interface_name)
         self.sport_client = SportClient()  
@@ -45,6 +52,15 @@ def __init__(self, **data: Any) -> None:
     @field_validator("network_interface_name")
     @classmethod
     def network_interface_name_validator(cls, network_interface_name: Union[str, None]) -> Union[str, None]:
+        """
+        Validate that a network interface name is provided.
+
+        Raises:
+            ValueError: If network_interface_name is None.
+
+        Returns:
+            str: The validated network interface name.
+        """
         if network_interface_name == None:
             raise ValueError("network interface name is not provided.")
         return network_interface_name
@@ -53,7 +69,12 @@ def _run(
         self
     ) -> Dict[str, Any]:
         """
-        Control the Go2 to stand up.
+        Commands the Unitree Go2 robot to stand up.
+
+        Sends the stand-up command through the sport_client and returns a dictionary indicating
+        the result. On success, it returns a dictionary with a code of 0 and a message "success".
+        If an error occurs, the error is logged and the method returns a dictionary with a code
+        of 500 and a message "failed".
         """
 
         try:

omagent-core/src/omagent_core/tool_system/tools/ut_dog/stop_move.py

@@ -36,6 +36,12 @@ class Config:
     network_interface_name: Optional[str]
 
     def __init__(self, **data: Any) -> None:
+        """
+        Initializes the StopMove tool instance.
+
+        Calls the parent initializer with provided data, configures the network channel using the
+        specified network interface, and sets up the SportClient with a 10-second timeout.
+        """
         super().__init__(**data)
         ChannelFactoryInitialize(0, self.network_interface_name)
         self.sport_client = SportClient()  
@@ -45,6 +51,15 @@ def __init__(self, **data: Any) -> None:
     @field_validator("network_interface_name")
     @classmethod
     def network_interface_name_validator(cls, network_interface_name: Union[str, None]) -> Union[str, None]:
+        """
+        Validate that a network interface name is provided.
+
+        Raises:
+            ValueError: If the network interface name is None.
+
+        Returns:
+            str: The validated network interface name.
+        """
         if network_interface_name == None:
             raise ValueError("network interface name is not provided.")
         return network_interface_name
@@ -53,7 +68,11 @@ def _run(
         self,
     ) -> Dict[str, Any]:
         """
-        Control the Go2 to stop move.
+        Stops the robot's movement.
+
+        Attempts to issue a stop command via the sport client. If successful, returns a
+        dictionary with a status code of 0 and a "success" message. If an error occurs,
+        logs the error and returns a dictionary with a status code of 500 and a "failed" message.
         """
 
         try: