diff --git a/static/include/app/apis/generated/data.md b/static/include/app/apis/generated/data.md index 70ae17a4cd..72d9065d83 100644 --- a/static/include/app/apis/generated/data.md +++ b/static/include/app/apis/generated/data.md @@ -2558,7 +2558,8 @@ const pipelineId = await dataClient.createDataPipeline( 'my-pipeline', mqlQuery, '0 0 * * *' - false + false, + 0 ); ``` diff --git a/static/include/services/apis/generated/motion.md b/static/include/services/apis/generated/motion.md index 04407fc0f2..f12b297bb1 100644 --- a/static/include/services/apis/generated/motion.md +++ b/static/include/services/apis/generated/motion.md @@ -15,7 +15,7 @@ The motion service takes the volumes associated with all configured machine comp **Parameters:** -- `component_name` ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName)) (required): The `ResourceName` of the piece of the robot that should arrive at the destination. Note that `move` moves the distal end of the component to the destination. For example, when moving a robotic arm, the piece that will arrive at the destination is the end effector attachment point, not the base of the arm. +- `component_name` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The `ResourceName` of the piece of the robot that should arrive at the destination. Note that `move` moves the distal end of the component to the destination. For example, when moving a robotic arm, the piece that will arrive at the destination is the end effector attachment point, not the base of the arm. - `destination` ([viam.proto.common.PoseInFrame](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.PoseInFrame)) (required): Describes where the `component_name` frame should be moved to. Can be any pose, from the perspective of any component whose location is configured as a [`frame`](/operate/reference/services/frame-system/). - `world_state` ([viam.proto.common.WorldState](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.WorldState)) (optional): Data structure specifying information about the world around the machine. Used to augment the motion solving process. @@ -48,8 +48,7 @@ The motion service takes the volumes associated with all configured machine comp **Example:** ```python {class="line-numbers linkable-line-numbers"} -resource_name = Gripper.get_resource_name("externalFrame") -success = await MotionServiceClient.move(resource_name, ...) +success = await MotionServiceClient.move("externalFrame", ...) ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/motion/client/index.html#viam.services.motion.client.MotionClient.move). @@ -113,7 +112,7 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/s - `destination` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (required): Destination to move to, which can a pose in the reference frame of any frame in the robot's frame system. -- `componentName` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (required): Component on the robot to move to the specified +- `componentName` (string) (required): Component on the robot to move to the specified destination. - `worldState` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (optional): Avoid obstacles by specifying their geometries in the world state. Augment the frame system of the robot by specifying @@ -132,12 +131,7 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/s const motion = new VIAM.MotionClient(machine, 'builtin'); // Assumes a gripper configured with name "my_gripper" -const gripperName = new VIAM.ResourceName({ - name: 'my_gripper', - namespace: 'rdk', - type: 'component', - subtype: 'gripper', -}); +cconst gripperName = "my_gripper"; const goalPose: VIAM.Pose = { x: -817, @@ -194,9 +188,9 @@ Make sure the [SLAM service](/operate/reference/services/slam/) you use alongsid **Parameters:** -- `component_name` ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/gen/common/v1/common_pb2/index.html#viam.gen.common.v1.common_pb2.ResourceName)) (required): The `ResourceName` of the base to move. +- `component_name` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The `ResourceName` of the base to move. - `destination` ([viam.proto.common.Pose](https://python.viam.dev/autoapi/viam/components/arm/index.html#viam.components.arm.Pose)) (required): The destination, which can be any [Pose](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Pose) with respect to the SLAM map's origin. -- `slam_service_name` ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/gen/common/v1/common_pb2/index.html#viam.gen.common.v1.common_pb2.ResourceName)) (required): The `ResourceName` of the [SLAM service](/operate/reference/services/slam/) from which the SLAM map is requested. +- `slam_service_name` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The `ResourceName` of the [SLAM service](/operate/reference/services/slam/) from which the SLAM map is requested. - `configuration` ([viam.proto.service.motion.MotionConfiguration](https://python.viam.dev/autoapi/viam/gen/service/motion/v1/motion_pb2/index.html#viam.gen.service.motion.v1.motion_pb2.MotionConfiguration)) (optional): The configuration you want to set across this machine for this motion service. This parameter and each of its fields are optional. @@ -219,16 +213,16 @@ The configuration you want to set across this machine for this motion service. T ```python {class="line-numbers linkable-line-numbers"} motion = MotionClient.from_robot(robot=machine, name="builtin") -# Get the ResourceNames of the base component and SLAM service -my_base_resource_name = Base.get_resource_name("my_base") -my_slam_service_name = SLAMClient.get_resource_name("my_slam_service") +# Get the names of the base component and SLAM service +my_base_name = "my_base" +my_slam_service_name = "my_slam_service" # Define a destination pose with respect to the origin of the map from the SLAM service "my_slam_service" my_pose = Pose(y=10) # Move the base component to the destination pose of Y=10, a location of # (0, 10, 0) in respect to the origin of the map -execution_id = await motion.move_on_map(component_name=my_base_resource_name, +execution_id = await motion.move_on_map(component_name=my_base_name, destination=my_pose, slam_service_name=my_slam_service_name) ``` @@ -300,9 +294,9 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/s - `destination` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (required): Specify a destination to, which can be any `Pose` with respect to the SLAM map's origin. -- `componentName` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (required): Component on the robot to move to the specified +- `componentName` (string) (required): Component on the robot to move to the specified destination. -- `slamServiceName` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (required): Name of the `SLAM` service from which the SLAM map +- `slamServiceName` (string) (required): Name of the `SLAM` service from which the SLAM map is requested. - `motionConfig` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (optional) - `obstacles` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (optional): Optional obstacles to be considered for motion planning. @@ -329,18 +323,8 @@ const myPose: VIAM.Pose = { theta: 0, }; -const baseName = new VIAM.ResourceName({ - name: 'my_base', - namespace: 'rdk', - type: 'component', - subtype: 'base', -}); -const slamServiceName = new VIAM.ResourceName({ - name: 'my_slam_service', - namespace: 'rdk', - type: 'service', - subtype: 'slam', -}); +const baseName = 'my_base'; +const slamServiceName = 'my_slam_service'; // Move the base to Y=10 (location of 0,10,0) relative to map origin const executionId = await motion.moveOnMap( @@ -397,9 +381,9 @@ Translation in obstacles is not supported by the [navigation service](/operate/r **Parameters:** -- `component_name` ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/gen/common/v1/common_pb2/index.html#viam.gen.common.v1.common_pb2.ResourceName)) (required): The `ResourceName` of the base to move. +- `component_name` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The `ResourceName` of the base to move. - `destination` ([viam.proto.common.GeoPoint](https://python.viam.dev/autoapi/viam/components/movement_sensor/index.html#viam.components.movement_sensor.GeoPoint)) (required): The location of the component's destination, represented in geographic notation as a [GeoPoint](https://python.viam.dev/autoapi/viam/components/movement_sensor/index.html#viam.components.movement_sensor.GeoPoint) _(lat, lng)_. -- `movement_sensor_name` ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/gen/common/v1/common_pb2/index.html#viam.gen.common.v1.common_pb2.ResourceName)) (required): The `ResourceName` of the [movement sensor](/operate/reference/components/movement-sensor/) that you want to use to check the machine's location. +- `movement_sensor_name` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The `ResourceName` of the [movement sensor](/operate/reference/components/movement-sensor/) that you want to use to check the machine's location. - `obstacles` ([Sequence[viam.proto.common.GeoGeometry]](https://python.viam.dev/autoapi/viam/gen/common/v1/common_pb2/index.html#viam.gen.common.v1.common_pb2.GeoGeometry)) (optional): Obstacles to consider when planning the motion of the component, with each represented as a `GeoGeometry`. - `heading` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): The compass heading, in degrees, that the machine's movement sensor should report at the `destination` point. - `configuration` ([viam.proto.service.motion.MotionConfiguration](https://python.viam.dev/autoapi/viam/gen/service/motion/v1/motion_pb2/index.html#viam.gen.service.motion.v1.motion_pb2.MotionConfiguration)) (optional): @@ -424,18 +408,17 @@ The configuration you want to set across this machine for this motion service. T ```python {class="line-numbers linkable-line-numbers"} motion = MotionClient.from_robot(robot=machine, name="builtin") -# Get the ResourceNames of the base and movement sensor -my_base_resource_name = Base.get_resource_name("my_base") -mvmnt_sensor_resource_name = MovementSensor.get_resource_name( - "my_movement_sensor") +# Get the names of the base and movement sensor +my_base_name = "my_base" +mvmnt_sensor_name = "my_movement_sensor" # Define a destination GeoPoint at the GPS coordinates [0, 0] my_destination = movement_sensor.GeoPoint(latitude=0, longitude=0) # Move the base component to the designated geographic location, as reported by the movement sensor execution_id = await motion.move_on_globe( - component_name=my_base_resource_name, + component_name=my_base_name, destination=my_destination, - movement_sensor_name=mvmnt_sensor_resource_name) + movement_sensor_name=mvmnt_sensor_name) ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/motion/client/index.html#viam.services.motion.client.MotionClient.move_on_globe). @@ -507,8 +490,8 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/s - `destination` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (required): Destination for the component to move to, represented as a `GeoPoint`. -- `componentName` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (required): The name of the component to move. -- `movementSensorName` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (required): The name of the `Movement Sensor` used to check +- `componentName` (string) (required): The name of the component to move. +- `movementSensorName` (string) (required): The name of the `Movement Sensor` used to check the robot's location. - `heading` (number) (optional): Compass heading, in degrees, to achieve at destination. - `obstaclesList` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (optional): Obstacles to consider when planning the motion of @@ -533,18 +516,8 @@ const destination: VIAM.GeoPoint = { longitude: -73.98, }; -const baseName = new VIAM.ResourceName({ - name: 'my_base', - namespace: 'rdk', - type: 'component', - subtype: 'base', -}); -const movementSensorName = new VIAM.ResourceName({ - name: 'my_movement_sensor', - namespace: 'rdk', - type: 'component', - subtype: 'movement_sensor', -}); +const baseName = 'my_base'; +const movementSensorName = 'my_movement_sensor'; // Move the base to the geographic location const globeExecutionId = await motion.moveOnGlobe( @@ -570,7 +543,7 @@ You can use the `supplemental_transforms` argument to augment the machine's exis **Parameters:** -- `component_name` ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName)) (required): The `ResourceName` of the piece of the machine whose pose is returned. +- `component_name` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The `ResourceName` of the piece of the machine whose pose is returned. - `destination_frame` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The name of the frame with respect to which the component's pose is reported. - `supplemental_transforms` ([Sequence[viam.proto.common.Transform]](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Transform)) (optional): A list of `Transform` objects. A `Transform` represents an additional frame which is added to the machine's frame system. @@ -597,7 +570,7 @@ You can use the `supplemental_transforms` argument to augment the machine's exis # (``Arm``, ``Base``, etc). # Create a `component_name`: -component_name = Gripper.get_resource_name("my_gripper") +component_name = "my_gripper" from viam.components.gripper import Gripper from viam.services.motion import MotionClient @@ -606,7 +579,7 @@ from viam.services.motion import MotionClient robot = await connect() motion = MotionClient.from_robot(robot=machine, name="builtin") -gripperName = Gripper.get_resource_name("my_gripper") +gripperName = "my_gripper" gripperPoseInWorld = await motion.get_pose(component_name=gripperName, destination_frame="world") ``` @@ -682,7 +655,7 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/s **Parameters:** -- `componentName` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (required): The component whose `Pose` is being requested. +- `componentName` (string) (required): The component whose `Pose` is being requested. - `destinationFrame` (string) (required): The reference frame in which the component's `Pose` should be provided, if unset this defaults to the "world" reference frame. @@ -700,12 +673,7 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/s ```ts {class="line-numbers linkable-line-numbers"} const motion = new VIAM.MotionClient(machine, 'builtin'); -const gripperName = new VIAM.ResourceName({ - name: 'my_gripper', - namespace: 'rdk', - type: 'component', - subtype: 'gripper', -}); +const gripperName = 'my_gripper'; // Get the gripper's pose in world coordinates const gripperPoseInWorld = await motion.getPose( @@ -729,7 +697,7 @@ Stop a [base](/operate/reference/components/base/) component being moved by an i **Parameters:** -- `component_name` ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/gen/common/v1/common_pb2/index.html#viam.gen.common.v1.common_pb2.ResourceName)) (required): The `ResourceName` of the piece of the robot that should arrive at the destination. Note that `move` moves the distal end of the component to the destination. For example, when moving a robotic arm, the piece that will arrive at the destination is the end effector attachment point, not the base of the arm. +- `component_name` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The `ResourceName` of the piece of the robot that should arrive at the destination. Note that `move` moves the distal end of the component to the destination. For example, when moving a robotic arm, the piece that will arrive at the destination is the end effector attachment point, not the base of the arm. - `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. @@ -745,7 +713,7 @@ motion = MotionClient.from_robot(robot=machine, name="builtin") # Assuming a `move_on_globe()` started the execution # Stop the base component which was instructed to move by `move_on_globe()` # or `move_on_map()` -my_base_resource_name = Base.get_resource_name("my_base") +my_base_name = "my_base" await motion.stop_plan(component_name=mvmnt_sensor) ``` @@ -788,7 +756,7 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/s **Parameters:** -- `componentName` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (required): The component to stop. +- `componentName` (string) (required): The component to stop. - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) @@ -800,12 +768,7 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/s ```ts {class="line-numbers linkable-line-numbers"} const motion = new VIAM.MotionClient(machine, 'builtin'); -const baseName = new VIAM.ResourceName({ - name: 'my_base', - namespace: 'rdk', - type: 'component', - subtype: 'base', -}); +const baseName = 'my_base'; // Stop the base component which was instructed to move await motion.stopPlan(baseName); @@ -927,7 +890,7 @@ All repeated fields are in chronological order. **Parameters:** -- `component_name` ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/gen/common/v1/common_pb2/index.html#viam.gen.common.v1.common_pb2.ResourceName)) (required): The component to stop. +- `component_name` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The component to stop. - `last_plan_only` ([bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)) (required): If supplied, the response will only return the last plan for the component / execution. - `execution_id` ([str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (optional): If supplied, the response will only return plans with the provided execution_id. - `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. @@ -941,9 +904,9 @@ All repeated fields are in chronological order. ```python {class="line-numbers linkable-line-numbers"} motion = MotionClient.from_robot(robot=machine, name="builtin") -my_base_resource_name = Base.get_resource_name("my_base") +my_base_name = "my_base" # Get the plan(s) of the base component which was instructed to move by `MoveOnGlobe()` or `MoveOnMap()` -resp = await motion.get_plan(component_name=my_base_resource_name) +resp = await motion.get_plan(component_name=my_base_name) ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/motion/client/index.html#viam.services.motion.client.MotionClient.get_plan). @@ -984,7 +947,7 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/s **Parameters:** -- `componentName` ([PlainMessage](https://ts.viam.dev/types/PlainMessage.html)) (required): The component to query. +- `componentName` (string) (required): The component to query. - `lastPlanOnly` (boolean) (optional) - `executionId` (string) (optional) - `extra` (None) (optional) @@ -998,12 +961,7 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/s ```ts {class="line-numbers linkable-line-numbers"} const motion = new VIAM.MotionClient(machine, 'builtin'); -const baseName = new VIAM.ResourceName({ - name: 'my_base', - namespace: 'rdk', - type: 'component', - subtype: 'base', -}); +const baseName = 'my_base'; // Get the plan(s) of the base component const response = await motion.getPlan(baseName);