DOCS-3341: Add missing python methods and fix check

.github/workflows/check_python_methods.py

@@ -30,11 +30,11 @@
 ]
 
 services_page_mapping = {
-    "motion": "services/motion",
-    "navigation": "services/navigation",
-    "slam": "services/slam",
-    "vision": "services/vision",
-    "ml": "services/ml"
+    "motion": "dev/reference/apis/services/motion/",
+    "navigation": "dev/reference/apis/services/navigation",
+    "slam": "dev/reference/apis/services/slam",
+    "vision": "dev/reference/apis/services/vision",
+    "ml": "dev/reference/apis/services/ml"
 }
 
 def is_unimplemented(obj):
@@ -246,12 +246,12 @@ def parse(type, names):
                         soup2 = BeautifulSoup(fp, 'html.parser')
         else:
             if type == "app" or type == "robot":
-                soup2 = make_soup(f"https://docs.viam.com/program/apis/{service}/")
+                soup2 = make_soup(f"https://docs.viam.com/dev/reference/apis/{service}/")
             else:
                 if service in services_page_mapping.keys():
                     soup2 = make_soup(f"https://docs.viam.com/{services_page_mapping[service]}/")
                 else:
-                    soup2 = make_soup(f"https://docs.viam.com/configure/{type}/{service}/")
+                    soup2 = make_soup(f"https://docs.viam.com/dev/reference/apis/{type}/{service}/")
 
         # Find all links on Docs site soup
         all_links = soup2.find_all('a')

.github/workflows/sdk_protos_map.csv

@@ -91,15 +91,17 @@ gantry,GetGeometries,,,,
 ## HACK:  proto for these (and/or inherited in Go SDK), manually mapping:
 gantry,IsMoving,,is_moving,IsMoving,isMoving
 gantry,Stop,,stop,Stop,stop
+gantry,GetGeometries,,get_geometries,,
 gantry,Reconfigure,,,Reconfigure,
-gantry,DoCommand,,,,doCommand
+gantry,DoCommand,,do_command,,doCommand
 gantry,GetResourceName,,get_resource_name,,getResourceName
 gantry,Close,,close,Close,
 
 ## Generic Component
 ## NOTED:Generic Component in Go SDK doesn't appear to implement (inherit) these:
 generic_component,DoCommand,Yes,do_command,DoCommand,doCommand
-# generic_component,GetGeometries,No,,,
+generic_component,GetGeometries,No,get_geometries,,
+generic_component,DoCommand,,do_command,,doCommand
 ## HACK: No proto for close, manually mapping:
 ## NOTED: Go SDK also missing Close, but we have it in our docs?:
 generic_component,GetResourceName,No,get_resource_name,,getResourceName
@@ -128,7 +130,7 @@ input_controller,GetGeometries,,get_geometries,,
 input_controller,RegisterControlCallback,,register_control_callback,RegisterControlCallback,
 ## HACK:  proto for these (and/or inherited in Go SDK), manually mapping:
 input_controller,Reconfigure,,,Reconfigure,
-input_controller,DoCommand,,,,
+input_controller,DoCommand,,do_command,,
 input_controller,GetResourceName,,get_resource_name,,
 input_controller,Close,,close,Close,
 
@@ -161,7 +163,7 @@ movement_sensor,GetProperties,Yes,get_properties,Properties,properties
 movement_sensor,GetAccuracy,No,get_accuracy,Accuracy,accuracy
 movement_sensor,GetLinearAcceleration,Yes,get_linear_acceleration,LinearAcceleration,linearAcceleration
 ## NOTED: Go SDK doesn't appear to implement this:
-# NOT implemented movement_sensor,GetGeometries,No,get_geometries,,
+movement_sensor,GetGeometries,No,get_geometries,,
 ## HACK: No proto for these (and/or inherited in Go SDK), manually mapping:
 movement_sensor,GetReadings,Yes,get_readings,Readings,readings
 movement_sensor,Reconfigure,No,,Reconfigure,
@@ -187,6 +189,7 @@ power_sensor,Close,,close,Close,
 sensor,GetReadings,Yes,get_readings,Readings,readings
 # NOT implemented sensor,GetGeometries,No,get_geometries,,
 ## HACK: No proto for close (and/or inherited in Go SDK), manually mapping:
+sensor,GetGeometries,,get_geometries,,
 sensor,Reconfigure,No,,Reconfigure,
 # NOT implemented in other languages
 sensor,DoCommand,,,,doCommand
@@ -443,6 +446,7 @@ robot,FrameSystemConfig,,get_frame_system_config,FrameSystemConfig,
 robot,TransformPose,,transform_pose,TransformPose,
 robot,TransformPCD,,,TransformPointCloud,
 robot,StreamStatus,,,,
+robot,DiscoverComponents,,discover_components,DiscoverComponents,
 robot,StopAll,,stop_all,StopAll,
 robot,RestartModule,,,RestartModule,
 robot,StartSession,,,,

static/include/components/apis/generated/arm.md

@@ -758,6 +758,12 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 
 - [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html)
 
+**Example:**
+
+```dart {class="line-numbers linkable-line-numbers"}
+final myArmResourceName = myArm.getResourceName("my_arm");
+```
+
 For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Arm/getResourceName.html).
 
 {{% /tab %}}

static/include/components/apis/generated/board.md

@@ -52,7 +52,7 @@ myBoard, err := board.FromRobot(robot, "my_board")
 pin, err := myBoard.GPIOPinByName("15")
 
 // Set the pin to high.
-err := pin.Set(context.Background(), "true", nil)
+err = pin.Set(context.Background(), true, nil)
 ```
 
 For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/board#GPIOPin).
@@ -135,7 +135,7 @@ myBoard, err := board.FromRobot(robot, "my_board")
 pin, err := myBoard.GPIOPinByName("15")
 
 // Get if it is true or false that the state of the pin is high.
-high := pin.Get(context.Background(), nil)
+high, err := pin.Get(context.Background(), nil)
 ```
 
 For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/board#GPIOPin).
@@ -225,7 +225,7 @@ myBoard, err := board.FromRobot(robot, "my_board")
 pin, err := myBoard.GPIOPinByName("15")
 
 // Returns the duty cycle.
-duty_cycle := pin.PWM(context.Background(), nil)
+duty_cycle, err := pin.PWM(context.Background(), nil)
 ```
 
 For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/board#GPIOPin).
@@ -309,7 +309,7 @@ myBoard, err := board.FromRobot(robot, "my_board")
 pin, err := myBoard.GPIOPinByName("15")
 
 // Set the duty cycle to .6, meaning that this pin will be in the high state for 60% of the duration of the PWM interval period.
-err := pin.SetPWM(context.Background(), .6, nil)
+err = pin.SetPWM(context.Background(), .6, nil)
 ```
 
 For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/board#GPIOPin).
@@ -480,7 +480,7 @@ myBoard, err := board.FromRobot(robot, "my_board")
 pin, err := myBoard.GPIOPinByName("15")
 
 // Set the PWM frequency of this pin to 1600 Hz.
-high := pin.SetPWMFreq(context.Background(), 1600, nil)
+err = pin.SetPWMFreq(context.Background(), 1600, nil)
 ```
 
 For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/board#GPIOPin).
@@ -734,7 +734,7 @@ myBoard, err := board.FromRobot(robot, "my_board")
 analog, err := myBoard.AnalogByName("my_example_analog")
 
 // Set the pin to value 48.
-err := analog.Write(context.Background(), 48, nil)
+err = analog.Write(context.Background(), 48, nil)
 ```
 
 For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/board#Analog).
@@ -1292,6 +1292,12 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 
 - [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html)
 
+**Example:**
+
+```dart {class="line-numbers linkable-line-numbers"}
+final myBoardResourceName = myBoard.getResourceName("my_board");
+```
+
 For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Board/getResourceName.html).
 
 {{% /tab %}}

static/include/components/apis/generated/camera.md

@@ -449,6 +449,12 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 
 - [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html)
 
+**Example:**
+
+```dart {class="line-numbers linkable-line-numbers"}
+final myCameraResourceName = myCamera.getResourceName("my_camera");
+```
+
 For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Camera/getResourceName.html).
 
 {{% /tab %}}

static/include/components/apis/generated/gantry-table.md

@@ -7,6 +7,7 @@
 | [`Home`](/dev/reference/apis/components/gantry/#home) | Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches. |
 | [`IsMoving`](/dev/reference/apis/components/gantry/#ismoving) | Get if the gantry is currently moving. |
 | [`Stop`](/dev/reference/apis/components/gantry/#stop) | Stop all motion of the gantry. |
+| [`GetGeometries`](/dev/reference/apis/components/gantry/#getgeometries) | Get all the geometries associated with the gantry in its current configuration, in the frame of the gantry. |
 | [`Reconfigure`](/dev/reference/apis/components/gantry/#reconfigure) | Reconfigure this resource. |
 | [`DoCommand`](/dev/reference/apis/components/gantry/#docommand) | Execute model-specific commands that are not otherwise defined by the component API. |
 | [`GetResourceName`](/dev/reference/apis/components/gantry/#getresourcename) | Get the `ResourceName` for this gantry with the given name. |

static/include/components/apis/generated/gantry.md

@@ -460,6 +460,39 @@ For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_s
 {{% /tab %}}
 {{< /tabs >}}
 
+### GetGeometries
+
+Get all the geometries associated with the gantry in its current configuration, in the [frame](/operate/mobility/define-geometry/) of the gantry.
+The [motion](/operate/reference/services/motion/) and [navigation](/operate/reference/services/navigation/) services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning.
+
+{{< tabs >}}
+{{% tab name="Python" %}}
+
+**Parameters:**
+
+- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call.
+- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
+
+**Returns:**
+
+- ([List[viam.proto.common.Geometry]](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Geometry)): The geometries associated with the Component.
+
+**Example:**
+
+```python {class="line-numbers linkable-line-numbers"}
+my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")
+geometries = await my_gantry.get_geometries()
+
+if geometries:
+    # Get the center of the first geometry
+    print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")
+```
+
+For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.get_geometries).
+
+{{% /tab %}}
+{{< /tabs >}}
+
 ### Reconfigure
 
 Reconfigure this resource.
@@ -490,6 +523,32 @@ For built-in models, model-specific commands are covered with each model's docum
 If you are implementing your own gantry and add features that have no built-in API method, you can access them with `DoCommand`.
 
 {{< tabs >}}
+{{% tab name="Python" %}}
+
+**Parameters:**
+
+- `command` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), ValueTypes]) (required): The command to execute.
+- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
+
+**Returns:**
+
+- (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): Result of the executed command.
+
+**Raises:**
+
+- (NotImplementedError): Raised if the Resource does not support arbitrary commands.
+
+**Example:**
+
+```python {class="line-numbers linkable-line-numbers"}
+my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")
+command = {"cmd": "test", "data1": 500}
+result = await my_gantry.do_command(command)
+```
+
+For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.do_command).
+
+{{% /tab %}}
 {{% tab name="Flutter" %}}
 
 **Parameters:**
@@ -547,6 +606,12 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 
 - [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html)
 
+**Example:**
+
+```dart {class="line-numbers linkable-line-numbers"}
+final myGantryResourceName = myGantry.getResourceName("my_gantry");
+```
+
 For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gantry/getResourceName.html).
 
 {{% /tab %}}

static/include/components/apis/generated/generic_component-table.md

@@ -2,5 +2,7 @@
 | Method Name | Description | `viam-micro-server` Support |
 | ----------- | ----------- | --------------------------- |
 | [`DoCommand`](/dev/reference/apis/components/generic/#docommand) | Execute model-specific commands. | <p class="center-text"><i class="fas fa-check" title="yes"></i></p> |
+| [`GetGeometries`](/dev/reference/apis/components/generic/#getgeometries) | Get all the geometries associated with the generic component in its current configuration, in the frame of the generic component. | <p class="center-text"><i class="fas fa-times" title="no"></i></p> |
+| [`DoCommand`](/dev/reference/apis/components/generic/#docommand) | Execute model-specific commands. |
 | [`GetResourceName`](/dev/reference/apis/components/generic/#getresourcename) | Get the `ResourceName` for this generic component with the given name. | <p class="center-text"><i class="fas fa-times" title="no"></i></p> |
 | [`Close`](/dev/reference/apis/components/generic/#close) | Safely shut down the resource and prevent further use. | <p class="center-text"><i class="fas fa-times" title="no"></i></p> |

static/include/components/apis/generated/generic_component.md

@@ -63,7 +63,95 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/r
 
 **Returns:**
 
-- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)\<[Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)\<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic\>\>
+- [Future](https://api.flutter.dev/flutter/dart-core/Future-class.html)\<[Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)\<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic\>\>
+
+**Example:**
+
+```dart {class="line-numbers linkable-line-numbers"}
+// Example using doCommand with an arm component
+const command = {'cmd': 'test', 'data1': 500};
+var result = myArm.doCommand(command);
+```
+
+For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Resource/doCommand.html).
+
+{{% /tab %}}
+{{< /tabs >}}
+
+### GetGeometries
+
+Get all the geometries associated with the generic component in its current configuration, in the [frame](/operate/mobility/define-geometry/) of the generic component.
+The [motion](/operate/reference/services/motion/) and [navigation](/operate/reference/services/navigation/) services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning.
+
+{{< tabs >}}
+{{% tab name="Python" %}}
+
+**Parameters:**
+
+- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call.
+- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
+
+**Returns:**
+
+- ([List[viam.proto.common.Geometry]](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Geometry)): The geometries associated with the Component.
+
+**Example:**
+
+```python {class="line-numbers linkable-line-numbers"}
+my_generic_component = Generic.from_robot(robot=machine, name="my_generic_component")
+geometries = await my_generic_component.get_geometries()
+
+if geometries:
+    # Get the center of the first geometry
+    print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")
+```
+
+For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/generic/client/index.html#viam.components.generic.client.GenericClient.get_geometries).
+
+{{% /tab %}}
+{{< /tabs >}}
+
+### DoCommand
+
+Execute model-specific commands.
+If you are implementing your own generic component and add features that have no built-in API method, you can access them with `DoCommand`.
+
+{{< tabs >}}
+{{% tab name="Python" %}}
+
+**Parameters:**
+
+- `command` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), ValueTypes]) (required): The command to execute.
+- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
+
+**Returns:**
+
+- (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]): Result of the executed command.
+
+**Raises:**
+
+- (NotImplementedError): Raised if the Resource does not support arbitrary commands.
+
+**Example:**
+
+```python {class="line-numbers linkable-line-numbers"}
+my_generic_component = Generic.from_robot(robot=machine, name="my_generic_component")
+command = {"cmd": "test", "data1": 500}
+result = await my_generic_component.do_command(command)
+```
+
+For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/generic/client/index.html#viam.components.generic.client.GenericClient.do_command).
+
+{{% /tab %}}
+{{% tab name="Flutter" %}}
+
+**Parameters:**
+
+- `command` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)\<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic\> (required)
+
+**Returns:**
+
+- [Future](https://api.flutter.dev/flutter/dart-core/Future-class.html)\<[Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)\<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic\>\>
 
 **Example:**
 
@@ -112,6 +200,12 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 
 - [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html)
 
+**Example:**
+
+```dart {class="line-numbers linkable-line-numbers"}
+final myGenericResourceName = myGeneric.getResourceName("my_generic");
+```
+
 For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Generic/getResourceName.html).
 
 {{% /tab %}}