sonelu · sonelu · May 19, 2020 · May 19, 2020 · May 19, 2020
diff --git a/docs/reference/base.rst b/docs/reference/base.rst
@@ -67,11 +67,12 @@ various structural elements of a robot.
    :toctree: base
 
    BaseRobot
+   JointManager
 
 **Upstream**
 
 The following classes from ``base`` module are provided for helping with
-the syncronisation of devices' values task.
+the synchronization of devices' values task.
 
 *Joints*
 
@@ -83,18 +84,11 @@ the syncronisation of devices' values task.
    JointPV
    JointPVL
 
-*Sonsors*
+*Sensors*
 
 .. autosummary::
    :nosignatures:
    :toctree: base
 
    Sensor
-
-*Controller*
-
-.. autosummary::
-   :nosignatures:
-   :toctree: base
-
-   Controller
+   SensorXYZ
diff --git a/docs/reference/base/roboglia.base.BaseRobot.rst b/docs/reference/base/roboglia.base.BaseRobot.rst
@@ -31,6 +31,7 @@ roboglia.base.BaseRobot
       ~BaseRobot.groups
       ~BaseRobot.inits
       ~BaseRobot.joints
+      ~BaseRobot.manager
       ~BaseRobot.name
       ~BaseRobot.sensors
       ~BaseRobot.syncs

diff --git a/docs/reference/base/roboglia.base.Joint.rst b/docs/reference/base/roboglia.base.Joint.rst
@@ -13,6 +13,7 @@ roboglia.base.Joint
    .. autosummary::
 
       ~Joint.__init__
+      ~Joint.desired
 
 
 
@@ -34,6 +35,7 @@ roboglia.base.Joint
       ~Joint.position_read_register
       ~Joint.position_write_register
       ~Joint.range
+      ~Joint.value
 
 
 
@@ -44,5 +46,6 @@ roboglia.base.Joint
 
 
    .. automethod:: __init__
+   .. automethod:: desired
 
 
diff --git a/docs/reference/base/roboglia.base.JointManager.rst b/docs/reference/base/roboglia.base.JointManager.rst
@@ -0,0 +1,66 @@
+roboglia.base.JointManager
+==========================
+
+.. currentmodule:: roboglia.base
+
+.. autoclass:: JointManager
+
+
+
+
+   .. rubric:: Methods
+
+   .. autosummary::
+
+      ~JointManager.__init__
+      ~JointManager.atomic
+      ~JointManager.pause
+      ~JointManager.resume
+      ~JointManager.run
+      ~JointManager.setup
+      ~JointManager.start
+      ~JointManager.stop
+      ~JointManager.stop_submit
+      ~JointManager.submit
+      ~JointManager.teardown
+
+
+
+
+
+   .. rubric:: Attributes
+
+   .. autosummary::
+
+      ~JointManager.frequency
+      ~JointManager.joints
+      ~JointManager.name
+      ~JointManager.paused
+      ~JointManager.period
+      ~JointManager.review
+      ~JointManager.running
+      ~JointManager.started
+      ~JointManager.stopped
+      ~JointManager.warning
+
+
+
+
+
+
+   .. rubric:: Methods in detail
+
+
+   .. automethod:: __init__
+   .. automethod:: atomic
+   .. automethod:: pause
+   .. automethod:: resume
+   .. automethod:: run
+   .. automethod:: setup
+   .. automethod:: start
+   .. automethod:: stop
+   .. automethod:: stop_submit
+   .. automethod:: submit
+   .. automethod:: teardown
+
+
diff --git a/docs/reference/base/roboglia.base.JointPV.rst b/docs/reference/base/roboglia.base.JointPV.rst
@@ -13,6 +13,7 @@ roboglia.base.JointPV
    .. autosummary::
 
       ~JointPV.__init__
+      ~JointPV.desired
 
 
 
@@ -35,6 +36,7 @@ roboglia.base.JointPV
       ~JointPV.position_read_register
       ~JointPV.position_write_register
       ~JointPV.range
+      ~JointPV.value
       ~JointPV.velocity
       ~JointPV.velocity_read_register
       ~JointPV.velocity_write_register
@@ -48,5 +50,6 @@ roboglia.base.JointPV
 
 
    .. automethod:: __init__
+   .. automethod:: desired
 
 
diff --git a/docs/reference/base/roboglia.base.JointPVL.rst b/docs/reference/base/roboglia.base.JointPVL.rst
@@ -13,6 +13,7 @@ roboglia.base.JointPVL
    .. autosummary::
 
       ~JointPVL.__init__
+      ~JointPVL.desired
 
 
 
@@ -39,6 +40,7 @@ roboglia.base.JointPVL
       ~JointPVL.position_read_register
       ~JointPVL.position_write_register
       ~JointPVL.range
+      ~JointPVL.value
       ~JointPVL.velocity
       ~JointPVL.velocity_read_register
       ~JointPVL.velocity_write_register
@@ -52,5 +54,6 @@ roboglia.base.JointPVL
 
 
    .. automethod:: __init__
+   .. automethod:: desired
 
 
diff --git a/docs/reference/base/roboglia.base.SensorXYZ.rst b/docs/reference/base/roboglia.base.SensorXYZ.rst
@@ -0,0 +1,54 @@
+roboglia.base.SensorXYZ
+=======================
+
+.. currentmodule:: roboglia.base
+
+.. autoclass:: SensorXYZ
+
+
+
+
+   .. rubric:: Methods
+
+   .. autosummary::
+
+      ~SensorXYZ.__init__
+
+
+
+
+
+   .. rubric:: Attributes
+
+   .. autosummary::
+
+      ~SensorXYZ.activate_register
+      ~SensorXYZ.active
+      ~SensorXYZ.auto_activate
+      ~SensorXYZ.device
+      ~SensorXYZ.name
+      ~SensorXYZ.value
+      ~SensorXYZ.x
+      ~SensorXYZ.x_inverse
+      ~SensorXYZ.x_offset
+      ~SensorXYZ.x_register
+      ~SensorXYZ.y
+      ~SensorXYZ.y_inverse
+      ~SensorXYZ.y_offset
+      ~SensorXYZ.y_register
+      ~SensorXYZ.z
+      ~SensorXYZ.z_inverse
+      ~SensorXYZ.z_offset
+      ~SensorXYZ.z_register
+
+
+
+
+
+
+   .. rubric:: Methods in detail
+
+
+   .. automethod:: __init__
+
+
diff --git a/docs/reference/move.rst b/docs/reference/move.rst
@@ -14,3 +14,14 @@ allowing to store and execute predetermined routine movements.
    :toctree: move
 
    StepLoop
+
+*Scrips*
+
+.. autosummary::
+   :nosignatures:
+   :toctree: move
+
+   Script
+   Scene
+   Sequence
+   Frame
diff --git a/docs/reference/move/roboglia.move.Frame.rst b/docs/reference/move/roboglia.move.Frame.rst
@@ -0,0 +1,41 @@
+roboglia.move.Frame
+===================
+
+.. currentmodule:: roboglia.move
+
+.. autoclass:: Frame
+
+
+
+
+   .. rubric:: Methods
+
+   .. autosummary::
+
+      ~Frame.__init__
+
+
+
+
+
+   .. rubric:: Attributes
+
+   .. autosummary::
+
+      ~Frame.commands
+      ~Frame.loads
+      ~Frame.name
+      ~Frame.positions
+      ~Frame.velocities
+
+
+
+
+
+
+   .. rubric:: Methods in detail
+
+
+   .. automethod:: __init__
+
+
diff --git a/docs/reference/move/roboglia.move.Scene.rst b/docs/reference/move/roboglia.move.Scene.rst
@@ -0,0 +1,41 @@
+roboglia.move.Scene
+===================
+
+.. currentmodule:: roboglia.move
+
+.. autoclass:: Scene
+
+
+
+
+   .. rubric:: Methods
+
+   .. autosummary::
+
+      ~Scene.__init__
+      ~Scene.play
+
+
+
+
+
+   .. rubric:: Attributes
+
+   .. autosummary::
+
+      ~Scene.name
+      ~Scene.sequences
+      ~Scene.times
+
+
+
+
+
+
+   .. rubric:: Methods in detail
+
+
+   .. automethod:: __init__
+   .. automethod:: play
+
+