Document camera Stream and missing arm/gantry/gripper SDK methods

.github/workflows/sdk_protos_map.csv

@@ -8,10 +8,10 @@ arm,MoveThroughJointPositions,,,MoveThroughJointPositions,,
 arm,GetJointPositions,,get_joint_positions,JointPositions,jointPositions,getJointPositions
 arm,Get3DModels,,,Get3DModels,get3DModels,get3DModels
 ## HACK:  proto for these (and/or inherited in Go SDK), manually mapping:
-arm,GetKinematics,,get_kinematics,Kinematics,,getKinematics
+arm,GetKinematics,,get_kinematics,Kinematics,getKinematics,getKinematics
 arm,IsMoving,,is_moving,IsMoving,isMoving,isMoving
 arm,Stop,,stop,Stop,stop,stop
-arm,GetGeometries,,get_geometries,Geometries,,getGeometries
+arm,GetGeometries,,get_geometries,Geometries,getGeometries,getGeometries
 arm,Reconfigure,,,Reconfigure,,
 arm,DoCommand,,do_command,DoCommand,doCommand,doCommand
 arm,GetStatus,,get_status,,getStatus,getStatus
@@ -91,6 +91,7 @@ button,Close,No,close,Close,,
 
 ## Camera
 camera,GetImages,,get_images,Images,getImages,getImages
+camera,Stream,,,Stream,,
 camera,GetPointCloud,,get_point_cloud,NextPointCloud,pointCloud,getPointCloud
 camera,GetProperties,,get_properties,Properties,properties,getProperties
 ## TED: Camera in Go SDK doesn't appear to implement (inherit) these:
@@ -119,14 +120,14 @@ gantry,MoveToPosition,,move_to_position,MoveToPosition,moveToPosition,moveToPosi
 gantry,GetLengths,,get_lengths,Lengths,lengths,getLengths
 gantry,Home,,home,Home,home,home
 ## TED: Gantry in Go SDK doesn't appear to implement (inherit) this:
-gantry,GetGeometries,,get_geometries,,,getGeometries
+gantry,GetGeometries,,get_geometries,Geometries,getGeometries,getGeometries
 ## HACK:  proto for these (and/or inherited in Go SDK), manually mapping:
 gantry,IsMoving,,is_moving,IsMoving,isMoving,isMoving
 gantry,Stop,,stop,Stop,stop,stop
 gantry,Reconfigure,,,Reconfigure,,
 gantry,DoCommand,,do_command,DoCommand,doCommand,doCommand
 gantry,GetStatus,,get_status,,getStatus,getStatus
-gantry,GetKinematics,,get_kinematics,Kinematics,,
+gantry,GetKinematics,,get_kinematics,Kinematics,getKinematics,getKinematics
 gantry,GetResourceName,,get_resource_name,Name,getResourceName,name
 gantry,Close,,close,Close,,
 
@@ -145,11 +146,11 @@ gripper,Open,,open,Open,open,open
 gripper,Grab,,grab,Grab,grab,grab
 ## HACK:  proto for these (and/or inherited in Go SDK), manually mapping:
 gripper,IsMoving,,is_moving,IsMoving,isMoving,isMoving
-gripper,IsHoldingSomething,,is_holding_something,IsHoldingSomething,isHoldingSomething,
+gripper,IsHoldingSomething,,is_holding_something,IsHoldingSomething,isHoldingSomething,isHoldingSomething
 gripper,Stop,,stop,Stop,stop,stop
 gripper,GetGeometries,,get_geometries,Geometries,,getGeometries
-gripper,GetCurrentInputs,,get_current_inputs,CurrentInputs,,getCurrentInputs
-gripper,GoToInputs,,go_to_inputs,GoToInputs,,goToInputs
+gripper,GetCurrentInputs,,get_current_inputs,CurrentInputs,getCurrentInputs,getCurrentInputs
+gripper,GoToInputs,,go_to_inputs,GoToInputs,goToInputs,goToInputs
 gripper,Reconfigure,,,Reconfigure,,
 gripper,DoCommand,,do_command,DoCommand,doCommand,doCommand
 gripper,GetStatus,,get_status,,getStatus,getStatus

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

@@ -613,6 +613,25 @@ API](https://docs.viam.com/dev/reference/apis/components/arm/#getkinematics).
 
 For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/ArmClient.html#getkinematics).
 
+{{% /tab %}}
+{{% tab name="Flutter" %}}
+
+**Parameters:**
+
+- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)
+
+**Returns:**
+
+- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<Kinematics>
+
+**Example:**
+
+```dart {class="line-numbers linkable-line-numbers"}
+var kinematics = await myArm.getKinematics();
+```
+
+For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Arm/getKinematics.html).
+
 {{% /tab %}}
 {{< /tabs >}}
 
@@ -892,6 +911,25 @@ console.log(geometries);
 
 For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/ArmClient.html#getgeometries).
 
+{{% /tab %}}
+{{% tab name="Flutter" %}}
+
+**Parameters:**
+
+- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)
+
+**Returns:**
+
+- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<[List](https://api.flutter.dev/flutter/dart-core/List-class.html)<[Geometry](https://flutter.viam.dev/viam_protos.common.common/Geometry-class.html)>\>
+
+**Example:**
+
+```dart {class="line-numbers linkable-line-numbers"}
+final geometries = await myArm.getGeometries();
+```
+
+For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Arm/getGeometries.html).
+
 {{% /tab %}}
 {{< /tabs >}}
 

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

@@ -2,6 +2,7 @@
 | Method Name | Description |
 | ----------- | ----------- |
 | [`GetImages`](/reference/apis/components/camera/#getimages) | `GetImages` is used for getting simultaneous images from different imagers from 3D cameras along with associated metadata, and single images from non-3D cameras, for example webcams, RTSP cameras, etc. in the image list in the response. |
+| [`Stream`](/reference/apis/components/camera/#stream) | Stream live video frames from the camera. |
 | [`GetPointCloud`](/reference/apis/components/camera/#getpointcloud) | Get a point cloud from the camera as bytes with a MIME type describing the structure of the data. |
 | [`GetProperties`](/reference/apis/components/camera/#getproperties) | Get the camera intrinsic parameters and camera distortion, as well as whether the camera supports returning point clouds. |
 | [`DoCommand`](/reference/apis/components/camera/#docommand) | Execute model-specific commands that are not otherwise defined by the component API. |

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

@@ -107,6 +107,35 @@ For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_s
 {{% /tab %}}
 {{< /tabs >}}
 
+### Stream
+
+Stream live video frames from the camera.
+
+{{< tabs >}}
+{{% tab name="Go" %}}
+
+{{% alert title="Info" color="info" %}}
+
+Unlike most Viam [component APIs](/reference/apis/#component-apis), the methods of the Go camera client do not map exactly to the names of the other SDK's camera methods.
+To get an image in the Go SDK, you first need to construct a `Stream` and then you can get the next image from that stream.
+
+{{% /alert %}}
+
+**Parameters:**
+
+- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
+- `errHandlers` [(...gostream.ErrorHandler)](https://pkg.go.dev/go.viam.com/rdk/gostream#ErrorHandler): A handler for errors allowing for logic based on consecutively retrieved errors.
+
+**Returns:**
+
+- [(gostream.VideoStream)](https://pkg.go.dev/go.viam.com/rdk/gostream#VideoStream): A `VideoStream` that streams video until closed.
+- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.
+
+For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/camera#VideoSource).
+
+{{% /tab %}}
+{{< /tabs >}}
+
 ### GetPointCloud
 
 Get a point cloud from the camera as bytes with a MIME type describing the structure of the data.

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

@@ -435,6 +435,36 @@ if geometries:
 
 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 %}}
+{{% tab name="Go" %}}
+
+**Parameters:**
+
+- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
+- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.
+
+**Returns:**
+
+- [([]spatialmath.Geometry)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#Geometry): The geometries associated with this resource, in any order.
+- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.
+
+**Example:**
+
+```go {class="line-numbers linkable-line-numbers"}
+// This example shows using Geometries with an gantry component.
+myGantry, err := gantry.FromProvider(machine, "my_gantry")
+
+geometries, err := myGantry.Geometries(context.Background(), nil)
+
+if len(geometries) > 0 {
+   // Get the center of the first geometry
+   elem := geometries[0]
+   fmt.Println("Pose of the first geometry's center point:", elem.Pose())
+}
+```
+
+For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Shaped).
+
 {{% /tab %}}
 {{% tab name="TypeScript" %}}
 
@@ -458,6 +488,25 @@ const geometries = await gantry.getGeometries();
 
 For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GantryClient.html#getgeometries).
 
+{{% /tab %}}
+{{% tab name="Flutter" %}}
+
+**Parameters:**
+
+- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)
+
+**Returns:**
+
+- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<[List](https://api.flutter.dev/flutter/dart-core/List-class.html)<[Geometry](https://flutter.viam.dev/viam_protos.common.common/Geometry-class.html)>\>
+
+**Example:**
+
+```dart {class="line-numbers linkable-line-numbers"}
+final geometries = await myGantry.getGeometries();
+```
+
+For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gantry/getGeometries.html).
+
 {{% /tab %}}
 {{< /tabs >}}
 
@@ -898,6 +947,49 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 
 For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/robot/framesystem#InputEnabled).
 
+{{% /tab %}}
+{{% tab name="TypeScript" %}}
+
+**Parameters:**
+
+- `extra` (None) (optional)
+- `callOptions` (CallOptions) (optional)
+
+**Returns:**
+
+- (Promise<GetKinematicsResult>): The legacy kinematics data shape or the newer object containing kinematics data plus a
+map of URDF mesh file paths to mesh data.
+
+**Example:**
+
+```ts {class="line-numbers linkable-line-numbers"}
+const gantry = new VIAM.GantryClient(machine, 'my_gantry');
+
+// Get the kinematics information associated with the gantry
+const kinematics = await gantry.getKinematics();
+```
+
+For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GantryClient.html#getkinematics).
+
+{{% /tab %}}
+{{% tab name="Flutter" %}}
+
+**Parameters:**
+
+- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)
+
+**Returns:**
+
+- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<Kinematics>
+
+**Example:**
+
+```dart {class="line-numbers linkable-line-numbers"}
+var kinematics = await myGantry.getKinematics();
+```
+
+For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gantry/getKinematics.html).
+
 {{% /tab %}}
 {{< /tabs >}}
 

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

@@ -333,6 +333,30 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/
 
 For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/gripper#Gripper).
 
+{{% /tab %}}
+{{% tab name="TypeScript" %}}
+
+**Parameters:**
+
+- `extra` (None) (optional)
+- `callOptions` (CallOptions) (optional)
+
+**Returns:**
+
+- (Promise<boolean>)
+
+**Example:**
+
+```ts {class="line-numbers linkable-line-numbers"}
+const gripper = new VIAM.GripperClient(machine, 'my_gripper');
+
+// Check if the gripper is holding something
+const holding = await gripper.isHoldingSomething();
+console.log('Gripper is holding something:', holding);
+```
+
+For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#isholdingsomething).
+
 {{% /tab %}}
 {{% tab name="Flutter" %}}
 
@@ -585,6 +609,19 @@ console.log('Current inputs:', inputs);
 
 For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#getcurrentinputs).
 
+{{% /tab %}}
+{{% tab name="Flutter" %}}
+
+**Parameters:**
+
+- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)
+
+**Returns:**
+
+- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<[List](https://api.flutter.dev/flutter/dart-core/List-class.html)<[double](https://api.flutter.dev/flutter/dart-core/double-class.html)>\>
+
+For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gripper/getCurrentInputs.html).
+
 {{% /tab %}}
 {{< /tabs >}}
 
@@ -641,6 +678,20 @@ await gripper.goToInputs([0.5]);
 
 For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#gotoinputs).
 
+{{% /tab %}}
+{{% tab name="Flutter" %}}
+
+**Parameters:**
+
+- `values` [List](https://api.flutter.dev/flutter/dart-core/List-class.html)<[double](https://api.flutter.dev/flutter/dart-core/double-class.html)> (required)
+- `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional)
+
+**Returns:**
+
+- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)<void>
+
+For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gripper/goToInputs.html).
+
 {{% /tab %}}
 {{< /tabs >}}
 

static/include/components/apis/overrides/protos/camera.Stream.md

@@ -0,0 +1 @@
+Stream live video frames from the camera.