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Add GetCurrentInputs and GoToInputs to gripper API docs #5059

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2 changes: 2 additions & 0 deletions static/include/components/apis/generated/gripper-table.md
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Expand Up @@ -7,6 +7,8 @@
| [`IsHoldingSomething`](/reference/apis/components/gripper/#isholdingsomething) | Return if the gripper is holding something. |
| [`Stop`](/reference/apis/components/gripper/#stop) | Stops the gripper. |
| [`GetGeometries`](/reference/apis/components/gripper/#getgeometries) | Get all the geometries associated with the gripper in its current configuration, in the frame of the gripper. |
| [`GetCurrentInputs`](/reference/apis/components/gripper/#getcurrentinputs) | Get the current joint input values of the gripper. |
| [`GoToInputs`](/reference/apis/components/gripper/#gotoinputs) | Move the gripper to the specified joint input values. |
| [`Reconfigure`](/reference/apis/components/gripper/#reconfigure) | Reconfigure this resource. |
| [`DoCommand`](/reference/apis/components/gripper/#docommand) | Execute model-specific commands that are not otherwise defined by the component API. |
| [`GetKinematics`](/reference/apis/components/gripper/#getkinematics) | Get the kinematics information associated with the gripper as the format and byte contents of the kinematics file. |
Expand Down
157 changes: 134 additions & 23 deletions static/include/components/apis/generated/gripper.md
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Expand Up @@ -63,7 +63,7 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/c
**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');
const gripper = new VIAM.GripperClient(machine, "my_gripper");

// Open the gripper
await gripper.open();
Expand Down Expand Up @@ -107,7 +107,7 @@ Closes the gripper until it grabs something or closes completely, and returns wh

**Returns:**

- ([bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)): : Indicates if the gripper grabbed something.
- ([bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)): : Indicates if the gripper grabbed something.

**Example:**

Expand All @@ -130,7 +130,7 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/

**Returns:**

- [(bool)](https://pkg.go.dev/builtin#bool): True if the gripper grabbed something with non-zero thickness.
- [(bool)](https://pkg.go.dev/builtin#bool): True if the gripper grabbed something with non-zero thickness.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**
Expand Down Expand Up @@ -159,7 +159,7 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/c
**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');
const gripper = new VIAM.GripperClient(machine, "my_gripper");

// Close the gripper to grab
await gripper.grab();
Expand Down Expand Up @@ -202,7 +202,7 @@ Returns whether the gripper is actively moving (or attempting to move) under its

**Returns:**

- ([bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)): : Whether the gripper is moving.
- ([bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)): : Whether the gripper is moving.

**Example:**

Expand Down Expand Up @@ -258,11 +258,11 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/r
**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');
const gripper = new VIAM.GripperClient(machine, "my_gripper");

// Check if the gripper is currently moving
const moving = await gripper.isMoving();
console.log('Gripper is moving:', moving);
console.log("Gripper is moving:", moving);
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#ismoving).
Expand Down Expand Up @@ -303,7 +303,7 @@ Return if the gripper is holding something.

**Returns:**

- ([viam.components.gripper.gripper.Gripper.HoldingStatus](https://python.viam.dev/autoapi/viam/components/gripper/gripper/index.html#viam.components.gripper.gripper.Gripper.HoldingStatus)): : see documentation on HoldingStatus for more information.
- ([viam.components.gripper.gripper.Gripper.HoldingStatus](https://python.viam.dev/autoapi/viam/components/gripper/gripper/index.html#viam.components.gripper.gripper.Gripper.HoldingStatus)): : see documentation on HoldingStatus for more information.

**Example:**

Expand Down Expand Up @@ -416,7 +416,7 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/r
**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');
const gripper = new VIAM.GripperClient(machine, "my_gripper");

// Stop the gripper's current motion
await gripper.stop();
Expand Down Expand Up @@ -461,7 +461,7 @@ The [motion](/reference/services/motion/) and [navigation](/reference/services/n

**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.
- ([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:**

Expand Down Expand Up @@ -521,18 +521,129 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/r
**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, 'my_gripper');
const gripper = new VIAM.GripperClient(machine, "my_gripper");

// Get the geometries of this component
const geometries = await gripper.getGeometries();
console.log('Geometries:', geometries);
console.log("Geometries:", geometries);
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#getgeometries).

{{% /tab %}}
{{< /tabs >}}

### GetCurrentInputs

Get the current joint input values of the gripper.
This method is part of the frame system's `InputEnabled` interface and is relevant for grippers with non-zero degrees of freedom that participate in 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[float]](https://docs.python.org/3/library/stdtypes.html#list)): The current input values of the gripper.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")

# Get the current input values of the gripper.
inputs = await my_gripper.get_current_inputs()
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.get_current_inputs).

{{% /tab %}}
{{% tab name="TypeScript" %}}

**Parameters:**

- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<number[]>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, "my_gripper");

// Get the current inputs of the gripper
const inputs = await gripper.getCurrentInputs();
console.log("Current inputs:", inputs);
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#getcurrentinputs).

{{% /tab %}}
{{< /tabs >}}

### GoToInputs

Move the gripper to the specified joint input values.
This method is part of the frame system's `InputEnabled` interface and is relevant for grippers with non-zero degrees of freedom that participate in motion planning.

{{< tabs >}}
{{% tab name="Python" %}}

**Parameters:**

- `values` ([List[float]](https://docs.python.org/3/library/stdtypes.html#list)) (required): The input values to move the gripper to.
- `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:**

- None.

**Example:**

```python {class="line-numbers linkable-line-numbers"}
my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")

# Move the gripper to specific input values.
await my_gripper.go_to_inputs([0.5, 0.8])
```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gripper/client/index.html#viam.components.gripper.client.GripperClient.go_to_inputs).

{{% /tab %}}
{{% tab name="TypeScript" %}}

**Parameters:**

- `values` (number[]) (required): The input values to move the gripper to.
- `extra` (None) (optional)
- `callOptions` (CallOptions) (optional)

**Returns:**

- (Promise<void>)

**Example:**

```ts {class="line-numbers linkable-line-numbers"}
const gripper = new VIAM.GripperClient(machine, "my_gripper");

// Move the gripper to specific input values
await gripper.goToInputs([0.5]);
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#gotoinputs).

{{% /tab %}}
{{< /tabs >}}

### Reconfigure

Reconfigure this resource.
Expand Down Expand Up @@ -573,7 +684,7 @@ If you are implementing your own gripper and want to add features that have no c

**Returns:**

- (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): : Result of the executed command.
- (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): : Result of the executed command.

**Raises:**

Expand Down Expand Up @@ -631,14 +742,14 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/r
```ts {class="line-numbers linkable-line-numbers"}
// Plain object (recommended)
const result = await resource.doCommand({
myCommand: { key: 'value' },
myCommand: { key: "value" },
});

// Struct (still supported)
import { Struct } from '@viamrobotics/sdk';
import { Struct } from "@viamrobotics/sdk";

const result = await resource.doCommand(
Struct.fromJson({ myCommand: { key: 'value' } })
Struct.fromJson({ myCommand: { key: "value" } }),
);
```

Expand Down Expand Up @@ -682,11 +793,11 @@ Get the kinematics information associated with the gripper as the format and byt

**Returns:**

- ([viam.components.KinematicsReturn](https://python.viam.dev/autoapi/viam/components/index.html#viam.components.KinematicsReturn)): : A tuple containing two values; the first [0] value represents the format of the
file, either in URDF format (`KinematicsFileFormat.KINEMATICS_FILE_FORMAT_URDF`) or
Viam’s kinematic parameter format (spatial vector algebra) (`KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA`),
and the second [1] value represents the byte contents of the file.
If available, a third [2] value provides meshes keyed by URDF filepath.
- ([viam.components.KinematicsReturn](https://python.viam.dev/autoapi/viam/components/index.html#viam.components.KinematicsReturn)): : A tuple containing two values; the first [0] value represents the format of the
file, either in URDF format (`KinematicsFileFormat.KINEMATICS_FILE_FORMAT_URDF`) or
Viam’s kinematic parameter format (spatial vector algebra) (`KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA`),
and the second [1] value represents the byte contents of the file.
If available, a third [2] value provides meshes keyed by URDF filepath.

**Example:**

Expand Down Expand Up @@ -755,7 +866,7 @@ Get the `ResourceName` for this gripper.

**Returns:**

- ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName)): : The ResourceName of this Resource.
- ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName)): : The ResourceName of this Resource.

**Example:**

Expand Down Expand Up @@ -800,7 +911,7 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/r
**Example:**

```ts {class="line-numbers linkable-line-numbers"}
gripper.name
gripper.name;
```

For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GripperClient.html#name).
Expand Down
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