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

viam/services/navigation/client.py

@@ -41,49 +41,59 @@ class NavigationClient(Navigation, ReconfigurableResourceRPCClientBase):
         self.client = NavigationServiceStub(channel)
         super().__init__(name)
 
-    async def get_paths(self, *, timeout: Optional[float] = None) -> List[Path]:
+    async def get_paths(self, *, timeout: Optional[float] = None, **kwargs) -> List[Path]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPathsRequest(name=self.name)
-        response: GetPathsResponse = await self.client.GetPaths(request, timeout=timeout)
+        response: GetPathsResponse = await self.client.GetPaths(request, timeout=timeout, metadata=md)
         return list(response.paths)
 
-    async def get_location(self, *, timeout: Optional[float] = None) -> GeoPoint:
+    async def get_location(self, *, timeout: Optional[float] = None, **kwargs) -> GeoPoint:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetLocationRequest(name=self.name)
-        response: GetLocationResponse = await self.client.GetLocation(request, timeout=timeout)
+        response: GetLocationResponse = await self.client.GetLocation(request, timeout=timeout, metadata=md)
         return response.location
 
-    async def get_obstacles(self, *, timeout: Optional[float] = None) -> List[GeoGeometry]:
+    async def get_obstacles(self, *, timeout: Optional[float] = None, **kwargs) -> List[GeoGeometry]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetObstaclesRequest(name=self.name)
-        response: GetObstaclesResponse = await self.client.GetObstacles(request, timeout=timeout)
+        response: GetObstaclesResponse = await self.client.GetObstacles(request, timeout=timeout, metadata=md)
         return list(response.obstacles)
 
-    async def get_waypoints(self, *, timeout: Optional[float] = None) -> List[Waypoint]:
+    async def get_waypoints(self, *, timeout: Optional[float] = None, **kwargs) -> List[Waypoint]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetWaypointsRequest(name=self.name)
-        response: GetWaypointsResponse = await self.client.GetWaypoints(request, timeout=timeout)
+        response: GetWaypointsResponse = await self.client.GetWaypoints(request, timeout=timeout, metadata=md)
         return list(response.waypoints)
 
-    async def add_waypoint(self, point: GeoPoint, *, timeout: Optional[float] = None):
+    async def add_waypoint(self, point: GeoPoint, *, timeout: Optional[float] = None, **kwargs):
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = AddWaypointRequest(name=self.name, location=point)
-        await self.client.AddWaypoint(request, timeout=timeout)
+        await self.client.AddWaypoint(request, timeout=timeout, metadata=md)
 
-    async def remove_waypoint(self, id: str, *, timeout: Optional[float] = None):
+    async def remove_waypoint(self, id: str, *, timeout: Optional[float] = None, **kwargs):
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = RemoveWaypointRequest(name=self.name, id=id)
-        await self.client.RemoveWaypoint(request, timeout=timeout)
+        await self.client.RemoveWaypoint(request, timeout=timeout, metadata=md)
 
-    async def get_mode(self, *, timeout: Optional[float] = None) -> Mode.ValueType:
+    async def get_mode(self, *, timeout: Optional[float] = None, **kwargs) -> Mode.ValueType:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetModeRequest(name=self.name)
-        response: GetModeResponse = await self.client.GetMode(request, timeout=timeout)
+        response: GetModeResponse = await self.client.GetMode(request, timeout=timeout, metadata=md)
         return response.mode
 
-    async def set_mode(self, mode: Mode.ValueType, *, timeout: Optional[float] = None):
+    async def set_mode(self, mode: Mode.ValueType, *, timeout: Optional[float] = None, **kwargs):
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = SetModeRequest(name=self.name, mode=mode)
-        await self.client.SetMode(request, timeout=timeout)
+        await self.client.SetMode(request, timeout=timeout, metadata=md)
 
-    async def get_properties(self, *, timeout: Optional[float] = None) -> MapType.ValueType:
+    async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) -> MapType.ValueType:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPropertiesRequest(name=self.name)
-        response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout)
+        response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout, metadata=md)
         return response.map_type
 
-    async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **__) -> Mapping[str, ValueTypes]:
+    async def do_command(self, 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)

viam/services/navigation/navigation.py

@@ -1,7 +1,7 @@
 import abc
 from typing import Final, List, Optional
 
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, Subtype
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE
 
 from ..service_base import ServiceBase
 from . import GeoGeometry, GeoPoint, MapType, Mode, Path, Waypoint
@@ -15,10 +15,10 @@ class Navigation(ServiceBase):
     navigation service implementations. This cannot be used on its own. If the ``__init__()`` function is
     overridden, it must call the ``super().__init__()`` function.
 
-    For more information, see `Navigation service <https://docs.viam.com/services/navigation/>`_.
+    For more information, see `Navigation service <https://docs.viam.com/dev/reference/apis/services/navigation/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, "navigation"
     )
 
@@ -30,7 +30,7 @@ class Navigation(ServiceBase):
 
         ::
 
-            my_nav = NavigationClient.from_robot(robot=robot, name="my_nav_service")
+            my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")
 
             # Get a list containing each path stored by the navigation service
             paths = await my_nav.get_paths()
@@ -44,7 +44,7 @@ class Navigation(ServiceBase):
             a Waypoint, along with the corresponding set of geopoints. This outlines the route the machine is expected to take to
             reach the specified destination or Waypoint.
 
-        For more information, see `Navigation service <https://docs.viam.com/services/navigation/>`_.
+        For more information, see `Navigation service <https://docs.viam.com/dev/reference/apis/services/navigation/#getpaths>`_.
         """
         ...
 
@@ -55,7 +55,7 @@ class Navigation(ServiceBase):
 
         ::
 
-            my_nav = NavigationClient.from_robot(robot=robot, name="my_nav_service")
+            my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")
 
             # Get the current location of the robot in the navigation service
             location = await my_nav.get_location()
@@ -68,7 +68,7 @@ class Navigation(ServiceBase):
             navigation.GeoPoint: The current location of the robot in the navigation service,
             represented in a GeoPoint with latitude and longitude values.
 
-        For more information, see `Navigation service <https://docs.viam.com/services/navigation/>`_.
+        For more information, see `Navigation service <https://docs.viam.com/dev/reference/apis/services/navigation/#getlocation>`_.
         """
         ...
 
@@ -82,7 +82,7 @@ class Navigation(ServiceBase):
 
         ::
 
-            my_nav = NavigationClient.from_robot(robot=robot, name="my_nav_service")
+            my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")
 
             # Get a list containing each obstacle stored by the navigation service
             obstacles = await my_nav.get_obstacles()
@@ -95,7 +95,7 @@ class Navigation(ServiceBase):
             List[navigation.GeoGeometry]: A list comprised of each GeoGeometry in the service's data storage.
             These are objects designated for the robot to avoid when navigating.
 
-        For more information, see `Navigation service <https://docs.viam.com/services/navigation/>`_.
+        For more information, see `Navigation service <https://docs.viam.com/dev/reference/apis/services/navigation/#getobstacles>`_.
         """
         ...
 
@@ -107,7 +107,7 @@ class Navigation(ServiceBase):
 
         ::
 
-            my_nav = NavigationClient.from_robot(robot=robot, name="my_nav_service")
+            my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")
 
             # Get a list containing each waypoint stored by the navigation service
             waypoints = await my_nav.get_waypoints()
@@ -120,7 +120,7 @@ class Navigation(ServiceBase):
             List[navigation.Waypoint]: An array comprised of each Waypoint in the service's data storage.
             These are locations designated within a path for the robot to navigate to.
 
-        For more information, see `Navigation service <https://docs.viam.com/services/navigation/>`_.
+        For more information, see `Navigation service <https://docs.viam.com/dev/reference/apis/services/navigation/#getwaypoints>`_.
         """
         ...
 
@@ -131,7 +131,7 @@ class Navigation(ServiceBase):
 
         ::
 
-           my_nav = NavigationClient.from_robot(robot=robot, name="my_nav_service")
+           my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")
 
             # Create a new waypoint with latitude and longitude values of 0 degrees
             location = GeoPoint(latitude=0, longitude=0)
@@ -141,12 +141,12 @@ class Navigation(ServiceBase):
             await my_nav.add_waypoint(point=location)
 
         Args:
-            point (navigation.GeoPoint): The current location of the robot in the navigation service,
-                represented in a GeoPoint with latitude and longitude values.
+            point (navigation.GeoPoint): A waypoint represented in a GeoPoint with
+                latitude and longitude values.
             timeout (Optional[float]): An option to set how long to wait (in seconds)
                 before calling a time-out and closing the underlying RPC call.
 
-        For more information, see `Navigation service <https://docs.viam.com/services/navigation/>`_.
+        For more information, see `Navigation service <https://docs.viam.com/dev/reference/apis/services/navigation/#addwaypoint>`_.
         """
         ...
 
@@ -158,7 +158,7 @@ class Navigation(ServiceBase):
 
         ::
 
-            my_nav = NavigationClient.from_robot(robot=robot, name="my_nav_service")
+            my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")
 
             # Remove the waypoint matching that ObjectID from the service's data storage
             await my_nav.remove_waypoint(waypoint_id)
@@ -168,7 +168,7 @@ class Navigation(ServiceBase):
             timeout (Optional[float]): An option to set how long to wait (in seconds)
                 before calling a time-out and closing the underlying RPC call.
 
-        For more information, see `Navigation service <https://docs.viam.com/services/navigation/>`_.
+        For more information, see `Navigation service <https://docs.viam.com/dev/reference/apis/services/navigation/#removewaypoint>`_.
         """
         ...
 
@@ -184,7 +184,7 @@ class Navigation(ServiceBase):
 
         ::
 
-            my_nav = NavigationClient.from_robot(robot=robot, name="my_nav_service")
+            my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")
 
             # Get the Mode the service is operating in
             await my_nav.get_mode()
@@ -196,7 +196,7 @@ class Navigation(ServiceBase):
         Returns:
             navigation.Mode.ValueType: The Mode the service is operating in.
 
-        For more information, see `Navigation service <https://docs.viam.com/services/navigation/>`_.
+        For more information, see `Navigation service <https://docs.viam.com/dev/reference/apis/services/navigation/#getmode>`_.
         """
         ...
 
@@ -212,7 +212,7 @@ class Navigation(ServiceBase):
 
         ::
 
-            my_nav = NavigationClient.from_robot(robot=robot, name="my_nav_service")
+            my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")
 
             # Set the Mode the service is operating in to MODE_WAYPOINT and begin navigation
             await my_nav.set_mode(Mode.ValueType.MODE_WAYPOINT)
@@ -222,7 +222,7 @@ class Navigation(ServiceBase):
                 before calling a time-out and closing the underlying RPC call.
             mode (navigation.Mode.ValueType): The Mode for the service to operate in.
 
-        For more information, see `Navigation service <https://docs.viam.com/services/navigation/>`_.
+        For more information, see `Navigation service <https://docs.viam.com/dev/reference/apis/services/navigation/#setmode>`_.
         """
         ...
 
@@ -233,7 +233,7 @@ class Navigation(ServiceBase):
 
         ::
 
-            my_nav = NavigationClient.from_robot(robot=robot, name="my_nav_service")
+            my_nav = NavigationClient.from_robot(robot=machine, name="my_nav_service")
 
             # Get the properties of the current navigation service.
             nav_properties = await my_nav.get_properties()
@@ -245,6 +245,6 @@ class Navigation(ServiceBase):
         Returns:
             MapType.ValueType: Information about the type of map the service is using.
 
-        For more information, see `Navigation service <https://docs.viam.com/services/navigation/>`_.
+        For more information, see `Navigation service <https://docs.viam.com/dev/reference/apis/services/navigation/#getproperties>`_.
         """
         ...

viam/services/service_base.py

@@ -1,13 +1,15 @@
 import abc
+from logging import Logger
 from typing import TYPE_CHECKING, ClassVar, Mapping, Optional, cast
 
 from typing_extensions import Self
 
+from viam.logging import getLogger
 from viam.resource.base import ResourceBase
 from viam.utils import ValueTypes
 
 if TYPE_CHECKING:
-    from viam.resource.types import Subtype
+    from viam.resource.types import API
     from viam.robot.client import RobotClient
 
 
@@ -16,10 +18,11 @@ class ServiceBase(abc.ABC, ResourceBase):
     All services must inherit from this class.
     """
 
-    SUBTYPE: ClassVar["Subtype"]
+    API: ClassVar["API"]
 
-    def __init__(self, name: str) -> None:
+    def __init__(self, name: str, *, logger: Optional[Logger] = None) -> None:
         self.name = name
+        self.logger = logger if logger is not None else getLogger(f"{self.API}.{name}")
 
     @classmethod
     def from_robot(cls, robot: "RobotClient", name: str) -> Self:
@@ -27,16 +30,17 @@ class ServiceBase(abc.ABC, ResourceBase):
 
         ::
 
-            async def connect() -> ViamClient:
+            async def connect() -> RobotClient:
                 # Replace "<API-KEY>" (including brackets) with your API key and "<API-KEY-ID>" with your API key ID
-                dial_options = DialOptions.with_api_key("<API-KEY>", "<API-KEY-ID>")
-                return await ViamClient.create_from_dial_options(dial_options)
+                options = RobotClient.Options.with_api_key("<API-KEY>", "<API-KEY-ID>")
+                # Replace "<MACHINE-URL>" (included brackets) with your machine's connection URL or FQDN
+                return await RobotClient.at_address("<MACHINE-URL>", options)
 
             async def main():
                 robot = await connect()
 
                 # Can be used with any resource, using the motion service as an example
-                motion = MotionClient.from_robot(robot=robot, name="builtin")
+                motion = MotionClient.from_robot(robot=machine, name="builtin")
 
                 robot.close()
 
@@ -48,14 +52,14 @@ class ServiceBase(abc.ABC, ResourceBase):
             Self: The service, if it exists on the robot
         """
         service = robot.get_service(cls.get_resource_name(name))
-        return cast(cls, service)
+        return cast(cls, service)  # type: ignore
 
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         """Send/receive arbitrary commands.
 
         ::
 
-            service = SERVICE.from_robot(robot, "builtin")  # replace SERVICE with the appropriate class
+            service = SERVICE.from_robot(robot=machine, "builtin")  # replace SERVICE with the appropriate class
 
             my_command = {
               "cmnd": "dosomething",

viam/services/service_client_base.py

@@ -6,7 +6,7 @@ from typing_extensions import Self
 
 from viam.errors import ResourceNotFoundError
 from viam.proto.common import ResourceName
-from viam.resource.base import ResourceBase, Subtype
+from viam.resource.base import API, ResourceBase
 from viam.utils import ValueTypes
 
 if TYPE_CHECKING:
@@ -19,7 +19,7 @@ class ServiceClientBase(abc.ABC, ResourceBase):
     All service clients must inherit from this class.
     """
 
-    SUBTYPE: ClassVar[Subtype]
+    API: ClassVar[API]
     channel: Channel
 
     def __init__(self, name: str, channel: Channel):
@@ -37,7 +37,7 @@ class ServiceClientBase(abc.ABC, ResourceBase):
         Returns:
             Self: The service client, if it exists on the robot
         """
-        resource_name = ResourceName(namespace="rdk", type="service", subtype=cls.SUBTYPE.resource_subtype, name=name)
+        resource_name = ResourceName(namespace="rdk", type="service", subtype=cls.API.resource_subtype, name=name)
         if resource_name not in robot.resource_names:
             raise ResourceNotFoundError(resource_name.subtype, resource_name.name)
         return cls(name, robot._channel)

viam/services/slam/__init__.py

@@ -14,4 +14,4 @@ __all__ = [
     "SLAM",
 ]
 
-Registry.register_subtype(ResourceRegistration(SLAM, SLAMRPCService, lambda name, channel: SLAMClient(name, channel)))
+Registry.register_api(ResourceRegistration(SLAM, SLAMRPCService, lambda name, channel: SLAMClient(name, channel)))

viam/services/slam/client.py

@@ -32,26 +32,31 @@ class SLAMClient(SLAM, ReconfigurableResourceRPCClientBase):
         self.client = SLAMServiceStub(channel)
         super().__init__(name)
 
-    async def get_position(self, *, timeout: Optional[float] = None) -> Pose:
+    async def get_position(self, *, timeout: Optional[float] = None, **kwargs) -> Pose:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPositionRequest(name=self.name)
-        response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout)
+        response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout, metadata=md)
         return response.pose
 
-    async def get_point_cloud_map(self, return_edited_map: bool = False, *, timeout: Optional[float] = None) -> List[bytes]:
+    async def get_point_cloud_map(self, return_edited_map: bool = False, *, timeout: Optional[float] = None, **kwargs) -> List[bytes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPointCloudMapRequest(name=self.name, return_edited_map=return_edited_map)
-        response: List[GetPointCloudMapResponse] = await self.client.GetPointCloudMap(request, timeout=timeout)
+        response: List[GetPointCloudMapResponse] = await self.client.GetPointCloudMap(request, timeout=timeout, metadata=md)
         return [r.point_cloud_pcd_chunk for r in response]
 
-    async def get_internal_state(self, *, timeout: Optional[float] = None) -> List[bytes]:
+    async def get_internal_state(self, *, timeout: Optional[float] = None, **kwargs) -> List[bytes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetInternalStateRequest(name=self.name)
-        response: List[GetInternalStateResponse] = await self.client.GetInternalState(request, timeout=timeout)
+        response: List[GetInternalStateResponse] = await self.client.GetInternalState(request, timeout=timeout, metadata=md)
         return [r.internal_state_chunk for r in response]
 
-    async def get_properties(self, *, timeout: Optional[float] = None) -> SLAM.Properties:
+    async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) -> SLAM.Properties:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPropertiesRequest(name=self.name)
-        return await self.client.GetProperties(request, timeout=timeout)
+        return await self.client.GetProperties(request, timeout=timeout, metadata=md)
 
-    async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **__) -> Mapping[str, ValueTypes]:
+    async def do_command(self, 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)

viam/services/slam/slam.py

@@ -3,7 +3,7 @@ import sys
 from typing import Final, List, Optional
 
 from viam.proto.service.slam import GetPropertiesResponse
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, Subtype
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE
 
 from ..service_base import ServiceBase
 from . import Pose
@@ -22,10 +22,10 @@ class SLAM(ServiceBase):
     arm implementations. This cannot be used on its own. If the ``__init__()`` function is
     overridden, it must call the ``super().__init__()`` function.
 
-    For more information, see `SLAM service <https://docs.viam.com/services/slam/>`_.
+    For more information, see `SLAM service <https://docs.viam.com/dev/reference/apis/services/slam/>`_.
     """
 
-    SUBTYPE: Final = Subtype(RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, "slam")  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, "slam")  # pyright: ignore [reportIncompatibleVariableOverride]
 
     Properties: "TypeAlias" = GetPropertiesResponse
 
@@ -36,7 +36,7 @@ class SLAM(ServiceBase):
 
         ::
 
-            slam = SLAMClient.from_robot(robot=robot, name="my_slam_service")
+            slam = SLAMClient.from_robot(robot=machine, name="my_slam_service")
 
             # Get the internal state of the SLAM algorithm required to continue mapping/localization.
             internal_state = await slam.get_internal_state()
@@ -44,7 +44,7 @@ class SLAM(ServiceBase):
         Returns:
             List[GetInternalStateResponse]: Chunks of the internal state of the SLAM algorithm
 
-        For more information, see `SLAM service <https://docs.viam.com/services/slam/>`_.
+        For more information, see `SLAM service <https://docs.viam.com/dev/reference/apis/services/slam/#getinternalstate>`_.
         """
         ...
 
@@ -55,7 +55,7 @@ class SLAM(ServiceBase):
 
         ::
 
-            slam_svc = SLAMClient.from_robot(robot=robot, name="my_slam_service")
+            slam_svc = SLAMClient.from_robot(robot=machine, name="my_slam_service")
 
             # Get the point cloud map in standard PCD format.
             pcd_map = await slam_svc.get_point_cloud_map()
@@ -68,7 +68,7 @@ class SLAM(ServiceBase):
             List[GetPointCloudMapResponse]: Complete pointcloud in standard PCD format. Chunks of the PointCloud, concatenating all
             GetPointCloudMapResponse.point_cloud_pcd_chunk values.
 
-        For more information, see `SLAM service <https://docs.viam.com/services/slam/>`_.
+        For more information, see `SLAM service <https://docs.viam.com/dev/reference/apis/services/slam/#getpointcloudmap>`_.
         """
         ...
 
@@ -79,7 +79,7 @@ class SLAM(ServiceBase):
 
         ::
 
-            slam_svc = SLAMClient.from_robot(robot=robot, name="my_slam_service")
+            slam_svc = SLAMClient.from_robot(robot=machine, name="my_slam_service")
 
             # Get the current position of the specified source component in the SLAM map as a Pose.
             pose = await slam.get_position()
@@ -87,7 +87,7 @@ class SLAM(ServiceBase):
         Returns:
             Pose: The current position of the specified component
 
-        For more information, see `SLAM service <https://docs.viam.com/services/slam/>`_.
+        For more information, see `SLAM service <https://docs.viam.com/dev/reference/apis/services/slam/#getposition>`_.
         """
         ...
 
@@ -98,7 +98,7 @@ class SLAM(ServiceBase):
 
         ::
 
-            slam_svc = SLAMClient.from_robot(robot=robot, name="my_slam_service")
+            slam_svc = SLAMClient.from_robot(robot=machine, name="my_slam_service")
 
             # Get the properties of your current SLAM session.
             slam_properties = await slam_svc.get_properties()
@@ -106,6 +106,6 @@ class SLAM(ServiceBase):
         Returns:
             Properties: The properties of SLAM
 
-        For more information, see `SLAM service <https://docs.viam.com/services/slam/>`_.
+        For more information, see `SLAM service <https://docs.viam.com/dev/reference/apis/services/slam/#getproperties>`_.
         """
         ...

viam/services/vision/__init__.py

@@ -12,4 +12,4 @@ __all__ = [
     "Vision",
 ]
 
-Registry.register_subtype(ResourceRegistration(Vision, VisionRPCService, lambda name, channel: VisionClient(name, channel)))
+Registry.register_api(ResourceRegistration(Vision, VisionRPCService, lambda name, channel: VisionClient(name, channel)))