DOCS-4801: Document arm MoveThroughJointPositionsStreamed for Go and C++ - #5317
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Eliza Farley (elizafarley) wants to merge 3 commits into
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Eliza Farley (elizafarley) wants to merge 3 commits into
Eliza Farley (elizafarley) wants to merge 3 commits into
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api#874 added the MoveThroughJointPositionsStreamed bidi-streaming RPC to the Arm API. rdk#6192 and viam-cpp-sdk#675 implement it in the Go and C++ SDKs; the universal-robots and ufactory-xarm modules both support it. The Python and TypeScript SDKs do not expose it yet, so neither is documented here. Adds a MoveThroughJointPositionsStreamed section to the joint-positions guide with Go and C++ examples, the unit split across the three interfaces, and two troubleshooting entries. Adds the method to the generated arm API reference. The generator crashed on its Go signature: parse_method_usage() only handled the bare `ch chan Tick` shape, so directional channel params fell through every branch and left type_link unbound. Handle them and keep the direction arrow HTML-escaped so the rendered link text shows it. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
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See also #5318 |
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Related Python changes are ready but awaiting SDK release: #5284 |
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FYI the Python SDK changes for streaming just merged in viamrobotics/viam-python-sdk#1242 |
…reamed viam-python-sdk#1242 merged, adding Python client support for the streamed arm RPC. Splits MoveThroughJointPositionsStreamed out of move-by-joint-positions.md into its own page now that three SDKs cover it, and fills in comparison-table rows on overview.md that were missing for existing pages. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Eliza Farley (elizafarley)
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LGTM, though if you want to more robustly fix the handling for channels in the update script, you might want to take a closer look at what the other PR did there.
Unescape HTML entities before matching channel direction tokens, clear per-parameter state to prevent neighbor-leaking, and add a fallback for unhandled parameter shapes. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Source changes
MoveThroughJointPositionsStreamedbidi-streaming RPC toArmService, withTrajectoryPoint,JointVelocities,JointAccelerations, andKinematicConstraintsmessagesNow covers Python, Go, and C++. TypeScript still has no implementation and no open PR.
Python support isn't in a PyPI release yet (latest
viam-sdkis 0.80.0, from 2026-07-28) — documented againstmain, the same convention already used here for Go and C++. C++ has a client/server implementation and is noted as available, but is intentionally not walked through with its own example (see below).Docs changes
docs/motion-planning/move-an-arm/stream-joint-positions.md(new page): splitMoveThroughJointPositionsStreamedout ofmove-by-joint-positions.mdinto its own how-to, now that three SDKs cover it. Covers theTrajectoryPointcontract, batching semantics, Python and Go stream examples, safety-heartbeat behavior, and troubleshooting. The SDK-availability note lists C++ as available, but there's no C++ tab or example — we don't carry C++ documentation support for this method, so the page deliberately says nothing more about it than that.docs/motion-planning/move-an-arm/move-by-joint-positions.md: removed theMoveThroughJointPositionsStreamedsection (moved to the new page) and points readers there instead. Updated the comparison table and "What's next" links accordingly.docs/motion-planning/move-an-arm/overview.md: the arm-motion comparison table was missing rows for two existing pages, Relax a goal with a pose cloud and Move through waypoints — added them, plus a new row for the streamed page and one for the arm-levelMoveToPositionCartesian call. Added a card link for the new page.static/include/components/apis/generated/arm.md: adds the Python tab forMoveThroughJointPositionsStreamed(Go tab already existed). Regenerated, not hand-edited..github/workflows/sdk_protos_map.csv: added the Python method-name mapping for the row.How I found these
api-1e83f5d-arm-streaming-rpcin the docs change agent's state was gated on Python landing; viam-python-sdk#1242 merged 2026-09-15, ungating it.Notes for reviewers
viam:ufactoryandviam:universal-robotsmodules.batches, caller closesresponsesonly after the call returns) and the Python async-iterator shape are the parts most worth a second pair of eyes.viamrobotics/rdk#6386(open) adds a README and runnable example for the higher-levelDoCommandstreaming interface on the motion service (rdk#6261). That is a different layer from this arm RPC and is not documented here.hugo --minifyproduction build all pass.Known stale content not fixed here
move-by-joint-positions.mdstill saysMoveThroughJointPositions(the unary method) is "not currently exposed by the Python SDK." viam-python-sdk#1250 added it on 2026-08-25 and python.viam.dev already publishes it, but it is not in a PyPI release yet (latest is 0.80.0, 2026-07-28). Left alone deliberately — it needs its own decision about documenting main versus released, and it is outside this PR's scope.Generated by daily docs change agent