DOCS-3136: Update Automation SDK methods (#3681)

.github/workflows/sdk_protos_map.csv

@@ -233,7 +233,7 @@ mlmodel,Infer,,infer,Infer,
 mlmodel,Metadata,,metadata,Metadata,
 ## HACK:  proto for DoCommand or Close (and/or inherited in Go SDK), manually mapping:
 mlmodel,Reconfigure,,,Reconfigure,
-mlmodel,DoCommand,,do_command,DoCommand,
+mlmodel,DoCommand,,,DoCommand,
 mlmodel,GetResourceName,,get_resource_name,,
 mlmodel,Close,,close,Close,
 

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

@@ -216,17 +216,13 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 **Example:**
 
 ```go {class="line-numbers linkable-line-numbers"}
-// Assumes you have imported "go.viam.com/api/component/arm/v1" as `componentpb`
 myArm, err := arm.FromRobot(machine, "my_arm")
 
-// Declare an array of values with your desired rotational value for each joint on the arm.
-degrees := []float64{4.0, 5.0, 6.0}
+// Declare an array of values with your desired rotational value (in radians) for each joint on the arm.
+inputs := referenceframe.FloatsToInputs([]float64{0, math.Pi/2, math.Pi})
 
-// Declare a new JointPositions with these values.
-jointPos := &componentpb.JointPositions{Values: degrees}
-
-// Move each joint of the arm to the position these values specify.
-err = myArm.MoveToJointPositions(context.Background(), jointPos, nil)
+// Move each joint of the arm to the positions specified in the above slice
+err = myArm.MoveToJointPositions(context.Background(), inputs, nil)
 ```
 
 For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/arm#Arm).

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

@@ -210,6 +210,7 @@ import numpy as np
 import open3d as o3d
 
 my_camera = Camera.from_robot(robot=machine, name="my_camera")
+
 data, _ = await my_camera.get_point_cloud()
 
 # write the point cloud into a temporary file

static/include/services/apis/generated/mlmodel.md

@@ -135,33 +135,6 @@ For built-in service models, any model-specific commands available are covered w
 If you are implementing your own ML model service 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])
-
-**Example:**
-
-```python {class="line-numbers linkable-line-numbers"}
-my_mlmodel_svc = MLModelClient.from_robot(robot=machine, "my_mlmodel_svc")
-
-my_command = {
-  "cmnd": "dosomething",
-  "someparameter": 52
-}
-
-await my_mlmodel_svc.do_command(command=my_command)
-```
-
-For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/mlmodel/client/index.html#viam.services.mlmodel.client.MLModelClient.do_command).
-
-{{% /tab %}}
 {{% tab name="Go" %}}
 
 **Parameters:**

static/include/services/apis/generated/vision.md

@@ -49,17 +49,17 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 ```go {class="line-numbers linkable-line-numbers"}
 myDetectorService, err := vision.FromRobot(machine, "my_detector")
 if err != nil {
-    logger.Error(err)
-    return
+  logger.Error(err)
+  return
 }
 
 // Get detections from the camera output
-detections, err := visService.DetectionsFromCamera(context.Background(), "cam", nil)
+detections, err := myDetectorService.DetectionsFromCamera(context.Background(), "my_camera", nil)
 if err != nil {
-    logger.Fatalf("Could not get detections: %v", err)
+  logger.Fatalf("Could not get detections: %v", err)
 }
 if len(detections) > 0 {
-    logger.Info(detections[0])
+  logger.Info(detections[0])
 }
 ```
 
@@ -142,31 +142,29 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 **Example:**
 
 ```go {class="line-numbers linkable-line-numbers"}
-// Get the stream from a camera
-cam, err := camera.FromRobot(machine, "cam")
+myCam, err := camera.FromRobot(machine, "my_camera")
 if err != nil {
-    logger.Error(err)
-    return
+  logger.Error(err)
+  return
 }
-camStream, err := cam.Stream(context.Background())
-
+// Get the stream from a camera
+camStream, err := myCam.Stream(context.Background())
 // Get an image from the camera stream
 img, release, err := camStream.Next(context.Background())
 defer release()
 
 myDetectorService, err := vision.FromRobot(machine, "my_detector")
 if err != nil {
-    logger.Error(err)
-    return
+  logger.Error(err)
+  return
 }
-
 // Get the detections from the image
 detections, err := myDetectorService.Detections(context.Background(), img, nil)
 if err != nil {
-    logger.Fatalf("Could not get detections: %v", err)
+  logger.Fatalf("Could not get detections: %v", err)
 }
 if len(detections) > 0 {
-    logger.Info(detections[0])
+  logger.Info(detections[0])
 }
 ```
 
@@ -247,17 +245,16 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 ```go {class="line-numbers linkable-line-numbers"}
 myClassifierService, err := vision.FromRobot(machine, "my_classifier")
 if err != nil {
-    logger.Error(err)
-    return
+  logger.Error(err)
+  return
 }
-
 // Get the 2 classifications with the highest confidence scores from the camera output
-classifications, err := myClassifierService.ClassificationsFromCamera(context.Background(), "cam", 2, nil)
+classifications, err := myClassifierService.ClassificationsFromCamera(context.Background(), "my_camera", 2, nil)
 if err != nil {
-    logger.Fatalf("Could not get classifications: %v", err)
+  logger.Fatalf("Could not get classifications: %v", err)
 }
 if len(classifications) > 0 {
-    logger.Info(classifications[0])
+  logger.Info(classifications[0])
 }
 ```
 
@@ -339,34 +336,33 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 **Example:**
 
 ```go {class="line-numbers linkable-line-numbers"}
-// Get the stream from a camera
-cam, err := camera.FromRobot(machine, "cam")
+myCam, err := camera.FromRobot(machine, "my_camera")
 if err != nil {
-    logger.Error(err)
-    return
+  logger.Error(err)
+  return
 }
-camStream, err := cam.Stream(context.Background())
+// Get the stream from a camera
+camStream, err := myCam.Stream(context.Background())
 if err!=nil {
     logger.Error(err)
     return
 }
-
 // Get an image from the camera stream
 img, release, err := camStream.Next(context.Background())
 defer release()
 
 myClassifierService, err := vision.FromRobot(machine, "my_classifier")
 if err != nil {
-    logger.Error(err)
-    return
+  logger.Error(err)
+  return
 }
 // Get the 2 classifications with the highest confidence scores from the image
 classifications, err := myClassifierService.Classifications(context.Background(), img, 2, nil)
 if err != nil {
-    logger.Fatalf("Could not get classifications: %v", err)
+  logger.Fatalf("Could not get classifications: %v", err)
 }
 if len(classifications) > 0 {
-    logger.Info(classifications[0])
+  logger.Info(classifications[0])
 }
 ```
 
@@ -452,16 +448,16 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 ```go {class="line-numbers linkable-line-numbers"}
 mySegmenterService, err := vision.FromRobot(machine, "my_segmenter")
 if err != nil {
-    logger.Error(err)
-    return
+  logger.Error(err)
+  return
 }
 // Get the objects from the camera output
-objects, err := mySegmenterService.GetObjectPointClouds(context.Background(), "cam", nil)
+objects, err := mySegmenterService.GetObjectPointClouds(context.Background(), "my_camera", nil)
 if err != nil {
-    logger.Fatalf("Could not get point clouds: %v", err)
+  logger.Fatalf("Could not get point clouds: %v", err)
 }
 if len(objects) > 0 {
-    logger.Info(objects[0])
+  logger.Info(objects[0])
 }
 ```
 
@@ -558,16 +554,18 @@ if err != nil {
 
 // The data to capture and return from the camera
 captOpts := viscapture.CaptureOptions{
-    ReturnImage: true,
-    ReturnDetections: true,
+  ReturnImage: true,
+  ReturnDetections: true,
 }
 // Get the captured data for a camera
-capture, err := visService.CaptureAllFromCamera(context.Background(), "cam", captOpts, nil)
+capture, err := visService.CaptureAllFromCamera(context.Background(), "my_camera", captOpts, nil)
 if err != nil {
-    logger.Fatalf("Could not get capture data from vision service: %v", err)
+  logger.Fatalf("Could not get capture data from vision service: %v", err)
 }
 image := capture.Image
 detections := capture.Detections
+classifications := capture.Classifications
+objects := capture.Objects
 ```
 
 For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/vision#Service).