docs: add docs to CB

Pretty much every class and method should have documentation now.

ref: N25B-295

src/control_backend/agents/actuation/robot_speech_agent.py

@@ -10,6 +10,17 @@ from control_backend.schemas.ri_message import SpeechCommand
 
 
 class RobotSpeechAgent(BaseAgent):
+    """
+    This agent acts as a bridge between the control backend and the Robot Interface (RI).
+    It receives speech commands from other agents or from the UI,
+    and forwards them to the robot via a ZMQ PUB socket.
+
+    :ivar subsocket: ZMQ SUB socket for receiving external commands (e.g., from UI).
+    :ivar pubsocket: ZMQ PUB socket for sending commands to the Robot Interface.
+    :ivar address: Address to bind/connect the PUB socket.
+    :ivar bind: Whether to bind or connect the PUB socket.
+    """
+
     subsocket: zmq.Socket
     pubsocket: zmq.Socket
     address = ""
@@ -27,7 +38,11 @@ class RobotSpeechAgent(BaseAgent):
 
     async def setup(self):
         """
-        Setup the robot speech command agent
+        Initialize the agent.
+
+        1. Sets up the PUB socket to talk to the robot.
+        2. Sets up the SUB socket to listen for "command" topics (from UI/External).
+        3. Starts the loop for handling ZMQ commands.
         """
         self.logger.info("Setting up %s", self.name)
 
@@ -58,7 +73,11 @@ class RobotSpeechAgent(BaseAgent):
 
     async def handle_message(self, msg: InternalMessage):
         """
-        Handle commands received from other Python agents.
+        Handle commands received from other internal Python agents.
+
+        Validates the message as a :class:`SpeechCommand` and forwards it to the robot.
+
+        :param msg: The internal message containing the command.
         """
         try:
             speech_command = SpeechCommand.model_validate_json(msg.body)
@@ -68,7 +87,9 @@ class RobotSpeechAgent(BaseAgent):
 
     async def _zmq_command_loop(self):
         """
-        Handle commands from the UI.
+        Loop to handle commands received via ZMQ (e.g., from the UI).
+
+        Listens on the 'command' topic, validates the JSON, and forwards it to the robot.
         """
         while self._running:
             try: