viam-sdk 0.25.2__py3-none-linux_armv7l.whl → 0.62.0__py3-none-linux_armv7l.whl

viam/components/motor/client.py

@@ -42,12 +42,11 @@ class MotorClient(Motor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = SetPowerRequest(name=self.name, power_pct=power, extra=dict_to_struct(extra))
-        await self.client.SetPower(request, timeout=timeout)
+        await self.client.SetPower(request, timeout=timeout, metadata=md)
 
     async def go_for(
         self,
@@ -56,12 +55,11 @@ class MotorClient(Motor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GoForRequest(name=self.name, rpm=rpm, revolutions=revolutions, extra=dict_to_struct(extra))
-        await self.client.GoFor(request, timeout=timeout)
+        await self.client.GoFor(request, timeout=timeout, metadata=md)
 
     async def go_to(
         self,
@@ -70,12 +68,11 @@ class MotorClient(Motor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GoToRequest(name=self.name, rpm=rpm, position_revolutions=position_revolutions, extra=dict_to_struct(extra))
-        await self.client.GoTo(request, timeout=timeout)
+        await self.client.GoTo(request, timeout=timeout, metadata=md)
 
     async def set_rpm(
         self,
@@ -83,12 +80,11 @@ class MotorClient(Motor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = SetRPMRequest(name=self.name, rpm=rpm, extra=dict_to_struct(extra))
-        await self.client.SetRPM(request, timeout=timeout)
+        await self.client.SetRPM(request, timeout=timeout, metadata=md)
 
     async def reset_zero_position(
         self,
@@ -96,24 +92,22 @@ class MotorClient(Motor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = ResetZeroPositionRequest(name=self.name, offset=offset, extra=dict_to_struct(extra))
-        await self.client.ResetZeroPosition(request, timeout=timeout)
+        await self.client.ResetZeroPosition(request, timeout=timeout, metadata=md)
 
     async def get_position(
         self,
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> float:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPositionRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout)
+        response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout, metadata=md)
         return response.position
 
     async def get_properties(
@@ -121,12 +115,11 @@ class MotorClient(Motor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Motor.Properties:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPropertiesRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout)
+        response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout, metadata=md)
         return Motor.Properties(position_reporting=response.position_reporting)
 
     async def stop(
@@ -134,29 +127,28 @@ class MotorClient(Motor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = StopRequest(name=self.name, extra=dict_to_struct(extra))
-        await self.client.Stop(request, timeout=timeout)
+        await self.client.Stop(request, timeout=timeout, metadata=md)
 
     async def is_powered(
         self,
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Tuple[bool, float]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = IsPoweredRequest(name=self.name, extra=dict_to_struct(extra))
-        response: IsPoweredResponse = await self.client.IsPowered(request, timeout=timeout)
+        response: IsPoweredResponse = await self.client.IsPowered(request, timeout=timeout, metadata=md)
         return response.is_on, response.power_pct
 
-    async def is_moving(self, *, timeout: Optional[float] = None) -> bool:
+    async def is_moving(self, *, timeout: Optional[float] = None, **kwargs) -> bool:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = IsMovingRequest(name=self.name)
-        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout)
+        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout, metadata=md)
         return response.is_moving
 
     async def do_command(
@@ -164,11 +156,13 @@ class MotorClient(Motor, ReconfigurableResourceRPCClientBase):
         command: Mapping[str, ValueTypes],
         *,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Mapping[str, ValueTypes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
-        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
+        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
         return struct_to_dict(response.result)
 
-    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
-        return await get_geometries(self.client, self.name, extra, timeout)
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
+        md = kwargs.get("metadata", self.Metadata())
+        return await get_geometries(self.client, self.name, extra, timeout, md)

viam/components/motor/motor.py

@@ -2,7 +2,7 @@ import abc
 from dataclasses import dataclass
 from typing import Any, Dict, Final, Optional, Tuple
 
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
 
 from ..component_base import ComponentBase
 
@@ -18,14 +18,14 @@ class Motor(ComponentBase):
 
         from viam.components.motor import Motor
 
-    For more information, see `Motor component <https://docs.viam.com/components/motor/>`_.
+    For more information, see `Motor component <https://docs.viam.com/dev/reference/apis/components/motor/>`_.
     """
 
     @dataclass
     class Properties:
         position_reporting: bool
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "motor"
     )
 
@@ -44,7 +44,7 @@ class Motor(ComponentBase):
 
         ::
 
-            my_motor = Motor.from_robot(robot=robot, name="my_motor")
+            my_motor = Motor.from_robot(robot=machine, name="my_motor")
 
             # Set the power to 40% forwards.
             await my_motor.set_power(power=0.4)
@@ -53,7 +53,7 @@ class Motor(ComponentBase):
             power (float): Power between -1 and 1
                 (negative implies backwards).
 
-        For more information, see `Motor component <https://docs.viam.com/components/motor/>`_.
+        For more information, see `Motor component <https://docs.viam.com/dev/reference/apis/components/motor/#setpower>`_.
         """
         ...
 
@@ -74,7 +74,7 @@ class Motor(ComponentBase):
 
         ::
 
-            my_motor = Motor.from_robot(robot=robot, name="my_motor")
+            my_motor = Motor.from_robot(robot=machine, name="my_motor")
 
             # Turn the motor 7.2 revolutions at 60 RPM.
             await my_motor.go_for(rpm=60, revolutions=7.2)
@@ -85,7 +85,7 @@ class Motor(ComponentBase):
             revolutions (float): Number of revolutions the motor should run for
                 (negative implies backwards).
 
-        For more information, see `Motor component <https://docs.viam.com/components/motor/>`_.
+        For more information, see `Motor component <https://docs.viam.com/dev/reference/apis/components/motor/#gofor>`_.
         """
         ...
 
@@ -107,7 +107,7 @@ class Motor(ComponentBase):
 
         ::
 
-            my_motor = Motor.from_robot(robot=robot, name="my_motor")
+            my_motor = Motor.from_robot(robot=machine, name="my_motor")
 
             # Turn the motor to 8.3 revolutions from home at 75 RPM.
             await my_motor.go_to(rpm=75, revolutions=8.3)
@@ -116,7 +116,7 @@ class Motor(ComponentBase):
             rpm (float): Speed at which the motor should rotate (absolute value).
             position_revolutions (float): Target position relative to home/zero, in revolutions.
 
-        For more information, see `Motor component <https://docs.viam.com/components/motor/>`_.
+        For more information, see `Motor component <https://docs.viam.com/dev/reference/apis/components/motor/#goto>`_.
         """
         ...
 
@@ -135,7 +135,7 @@ class Motor(ComponentBase):
 
         ::
 
-            my_motor = Motor.from_robot(robot=robot, name="my_motor")
+            my_motor = Motor.from_robot(robot=machine, name="my_motor")
 
             # Spin the motor at 75 RPM.
             await my_motor.set_rpm(rpm=75)
@@ -143,7 +143,7 @@ class Motor(ComponentBase):
         Args:
             rpm (float): Speed at which the motor should rotate.
 
-        For more information, see `Motor component <https://docs.viam.com/components/motor/>`_.
+        For more information, see `Motor component <https://docs.viam.com/dev/reference/apis/components/motor/#setrpm>`_.
         """
         ...
 
@@ -161,7 +161,7 @@ class Motor(ComponentBase):
 
         ::
 
-            my_motor = Motor.from_robot(robot=robot, name="my_motor")
+            my_motor = Motor.from_robot(robot=machine, name="my_motor")
 
             # Set the current position as the new home position with no offset.
             await my_motor.reset_zero_position(offset=0.0)
@@ -169,7 +169,7 @@ class Motor(ComponentBase):
         Args:
             offset (float): The offset from the current position to new home/zero position.
 
-        For more information, see `Motor component <https://docs.viam.com/components/motor/>`_.
+        For more information, see `Motor component <https://docs.viam.com/dev/reference/apis/components/motor/#resetzeroposition>`_.
         """
         ...
 
@@ -188,7 +188,7 @@ class Motor(ComponentBase):
 
         ::
 
-            my_motor = Motor.from_robot(robot=robot, name="my_motor")
+            my_motor = Motor.from_robot(robot=machine, name="my_motor")
 
             # Get the current position of the motor.
             position = await my_motor.get_position()
@@ -196,7 +196,7 @@ class Motor(ComponentBase):
         Returns:
             float: Number of revolutions the motor is away from zero/home.
 
-        For more information, see `Motor component <https://docs.viam.com/components/motor/>`_.
+        For more information, see `Motor component <https://docs.viam.com/dev/reference/apis/components/motor/#getposition>`_.
         """
         ...
 
@@ -214,7 +214,7 @@ class Motor(ComponentBase):
 
         ::
 
-            my_motor = Motor.from_robot(robot=robot, name="my_motor")
+            my_motor = Motor.from_robot(robot=machine, name="my_motor")
 
             # Report a dictionary mapping optional properties to whether it is supported by
             # this motor.
@@ -226,7 +226,7 @@ class Motor(ComponentBase):
         Returns:
             Properties: Map of feature names to supported status.
 
-        For more information, see `Motor component <https://docs.viam.com/components/motor/>`_.
+        For more information, see `Motor component <https://docs.viam.com/dev/reference/apis/components/motor/#getproperties>`_.
         """
         ...
 
@@ -243,12 +243,12 @@ class Motor(ComponentBase):
 
         ::
 
-            my_motor = Motor.from_robot(robot=robot, name="my_motor")
+            my_motor = Motor.from_robot(robot=machine, name="my_motor")
 
             # Stop the motor.
             await my_motor.stop()
 
-        For more information, see `Motor component <https://docs.viam.com/components/motor/>`_.
+        For more information, see `Motor component <https://docs.viam.com/dev/reference/apis/components/motor/#stop>`_.
         """
         ...
 
@@ -265,7 +265,7 @@ class Motor(ComponentBase):
 
         ::
 
-            my_motor = Motor.from_robot(robot=robot, name="my_motor")
+            my_motor = Motor.from_robot(robot=machine, name="my_motor")
 
             # Check whether the motor is currently running.
             powered = await my_motor.is_powered()
@@ -274,9 +274,9 @@ class Motor(ComponentBase):
 
         Returns:
             Tuple[bool, float]: A tuple containing two values; the first [0] value indicates whether the motor is currently powered, and
-                the second [1] value indicates the current power percentage of the motor.
+            the second [1] value indicates the current power percentage of the motor.
 
-        For more information, see `Motor component <https://docs.viam.com/components/motor/>`_.
+        For more information, see `Motor component <https://docs.viam.com/dev/reference/apis/components/motor/#ispowered>`_.
         """
         ...
 
@@ -287,7 +287,7 @@ class Motor(ComponentBase):
 
         ::
 
-            my_motor = Motor.from_robot(robot=robot, name="my_motor")
+            my_motor = Motor.from_robot(robot=machine, name="my_motor")
 
             # Check whether the motor is currently moving.
             moving = await my_motor.is_moving()
@@ -296,6 +296,6 @@ class Motor(ComponentBase):
         Returns:
             bool: Whether the motor is moving.
 
-        For more information, see `Motor component <https://docs.viam.com/components/motor/>`_.
+        For more information, see `Motor component <https://docs.viam.com/dev/reference/apis/components/motor/#ismoving>`_.
         """
         ...

viam/components/movement_sensor/__init__.py

@@ -12,7 +12,7 @@ __all__ = [
     "Vector3",
 ]
 
-Registry.register_subtype(
+Registry.register_api(
     ResourceRegistration(
         MovementSensor,
         MovementSensorRPCService,

viam/components/movement_sensor/client.py

@@ -41,12 +41,11 @@ class MovementSensorClient(MovementSensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Tuple[GeoPoint, float]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPositionRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout)
+        response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout, metadata=md)
         return response.coordinate, response.altitude_m
 
     async def get_linear_velocity(
@@ -54,12 +53,11 @@ class MovementSensorClient(MovementSensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Vector3:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetLinearVelocityRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetLinearVelocityResponse = await self.client.GetLinearVelocity(request, timeout=timeout)
+        response: GetLinearVelocityResponse = await self.client.GetLinearVelocity(request, timeout=timeout, metadata=md)
         return response.linear_velocity
 
     async def get_angular_velocity(
@@ -67,12 +65,11 @@ class MovementSensorClient(MovementSensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Vector3:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetAngularVelocityRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetAngularVelocityResponse = await self.client.GetAngularVelocity(request, timeout=timeout)
+        response: GetAngularVelocityResponse = await self.client.GetAngularVelocity(request, timeout=timeout, metadata=md)
         return response.angular_velocity
 
     async def get_linear_acceleration(
@@ -80,12 +77,11 @@ class MovementSensorClient(MovementSensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Vector3:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetLinearAccelerationRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetLinearAccelerationResponse = await self.client.GetLinearAcceleration(request, timeout=timeout)
+        response: GetLinearAccelerationResponse = await self.client.GetLinearAcceleration(request, timeout=timeout, metadata=md)
         return response.linear_acceleration
 
     async def get_compass_heading(
@@ -93,12 +89,11 @@ class MovementSensorClient(MovementSensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> float:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetCompassHeadingRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetCompassHeadingResponse = await self.client.GetCompassHeading(request, timeout=timeout)
+        response: GetCompassHeadingResponse = await self.client.GetCompassHeading(request, timeout=timeout, metadata=md)
         return response.value
 
     async def get_orientation(
@@ -106,12 +101,11 @@ class MovementSensorClient(MovementSensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Orientation:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetOrientationRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetOrientationResponse = await self.client.GetOrientation(request, timeout=timeout)
+        response: GetOrientationResponse = await self.client.GetOrientation(request, timeout=timeout, metadata=md)
         return response.orientation
 
     async def get_properties(
@@ -119,12 +113,11 @@ class MovementSensorClient(MovementSensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> MovementSensor.Properties:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPropertiesRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout)
+        response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout, metadata=md)
         return MovementSensor.Properties.from_proto(response)
 
     async def get_accuracy(
@@ -132,24 +125,22 @@ class MovementSensorClient(MovementSensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> MovementSensor.Accuracy:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetAccuracyRequest(name=self.name, extra=dict_to_struct(extra))
-        return await self.client.GetAccuracy(request, timeout=timeout)
+        return await self.client.GetAccuracy(request, timeout=timeout, metadata=md)
 
     async def get_readings(
         self,
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Mapping[str, SensorReading]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetReadingsRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetReadingsResponse = await self.client.GetReadings(request, timeout=timeout)
+        response: GetReadingsResponse = await self.client.GetReadings(request, timeout=timeout, metadata=md)
 
         return sensor_readings_value_to_native(response.readings)
 
@@ -158,11 +149,13 @@ class MovementSensorClient(MovementSensor, ReconfigurableResourceRPCClientBase):
         command: Mapping[str, ValueTypes],
         *,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Mapping[str, ValueTypes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
-        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
+        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
         return struct_to_dict(response.result)
 
-    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
-        return await get_geometries(self.client, self.name, extra, timeout)
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
+        md = kwargs.get("metadata", self.Metadata())
+        return await get_geometries(self.client, self.name, extra, timeout, md)

viam/components/movement_sensor/movement_sensor.py

@@ -7,7 +7,7 @@ from typing_extensions import Self
 
 from viam.components.component_base import ComponentBase
 from viam.proto.component.movementsensor import GetAccuracyResponse, GetPropertiesResponse
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
 from viam.utils import SensorReading
 
 from . import GeoPoint, Orientation, Vector3
@@ -28,10 +28,10 @@ class MovementSensor(ComponentBase):
 
         from viam.components.movement_sensor import MovementSensor
 
-    For more information, see `Movement Sensor component <https://docs.viam.com/components/movement-sensor/>`_.
+    For more information, see `Movement Sensor component <https://docs.viam.com/dev/reference/apis/components/movement-sensor/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "movement_sensor"
     )
 
@@ -86,7 +86,7 @@ class MovementSensor(ComponentBase):
         Returns:
             Tuple[GeoPoint, float]: The current lat/long, along with the altitude in m
 
-        For more information, see `Movement Sensor component <https://docs.viam.com/components/movement-sensor/>`_.
+        For more information, see `Movement Sensor component <https://docs.viam.com/dev/reference/apis/components/movement-sensor/#getposition>`_.
         """
         ...
 
@@ -105,7 +105,7 @@ class MovementSensor(ComponentBase):
         Returns:
             Vector3: The linear velocity in m/sec
 
-        For more information, see `Movement Sensor component <https://docs.viam.com/components/movement-sensor/>`_.
+        For more information, see `Movement Sensor component <https://docs.viam.com/dev/reference/apis/components/movement-sensor/#getlinearvelocity>`_.
         """
         ...
 
@@ -127,7 +127,7 @@ class MovementSensor(ComponentBase):
         Returns:
             Vector3: The angular velocity in degrees/sec
 
-        For more information, see `Movement Sensor component <https://docs.viam.com/components/movement-sensor/>`_.
+        For more information, see `Movement Sensor component <https://docs.viam.com/dev/reference/apis/components/movement-sensor/#getangularvelocity>`_.
         """
         ...
 
@@ -151,7 +151,7 @@ class MovementSensor(ComponentBase):
         Returns:
             Vector3: The linear acceleration in m/sec^2
 
-        For more information, see `Movement Sensor component <https://docs.viam.com/components/movement-sensor/>`_.
+        For more information, see `Movement Sensor component <https://docs.viam.com/dev/reference/apis/components/movement-sensor/#getlinearacceleration>`_.
         """
         ...
 
@@ -170,7 +170,7 @@ class MovementSensor(ComponentBase):
         Returns:
             float: The compass heading in degrees
 
-        For more information, see `Movement Sensor component <https://docs.viam.com/components/movement-sensor/>`_.
+        For more information, see `Movement Sensor component <https://docs.viam.com/dev/reference/apis/components/movement-sensor/#getcompassheading>`_.
         """
         ...
 
@@ -189,7 +189,7 @@ class MovementSensor(ComponentBase):
         Returns:
             Orientation: The orientation
 
-        For more information, see `Movement Sensor component <https://docs.viam.com/components/movement-sensor/>`_.
+        For more information, see `Movement Sensor component <https://docs.viam.com/dev/reference/apis/components/movement-sensor/#getorientation>`_.
         """
         ...
 
@@ -208,7 +208,7 @@ class MovementSensor(ComponentBase):
         Returns:
             MovementSensor.Properties: The properties
 
-        For more information, see `Movement Sensor component <https://docs.viam.com/components/movement-sensor/>`_.
+        For more information, see `Movement Sensor component <https://docs.viam.com/dev/reference/apis/components/movement-sensor/#getproperties>`_.
         """
         ...
 
@@ -227,7 +227,7 @@ class MovementSensor(ComponentBase):
         Returns:
             MovementSensor.Accuracy: The accuracies of the movement sensor
 
-        For more information, see `Movement Sensor component <https://docs.viam.com/components/movement-sensor/>`_.
+        For more information, see `Movement Sensor component <https://docs.viam.com/dev/reference/apis/components/movement-sensor/#getaccuracy>`_.
         """
         ...
 
@@ -248,6 +248,6 @@ class MovementSensor(ComponentBase):
         Returns:
             Mapping[str, Any]: The readings for the MovementSensor. Can be of any type.
 
-        For more information, see `Movement Sensor component <https://docs.viam.com/components/movement-sensor/>`_.
+        For more information, see `Movement Sensor component <https://docs.viam.com/dev/reference/apis/components/movement-sensor/#getreadings>`_.
         """
         ...

viam/components/pose_tracker/__init__.py

@@ -8,7 +8,7 @@ __all__ = [
     "PoseTracker",
 ]
 
-Registry.register_subtype(
+Registry.register_api(
     ResourceRegistration(
         PoseTracker,
         PoseTrackerRPCService,