From d75116cdea451b18fb0344060c6279ffcdfbd2b6 Mon Sep 17 00:00:00 2001
From: Sierra Guequierre <sguequierre@gmail.com>
Date: Thu, 26 Oct 2023 11:32:06 -0400
Subject: [PATCH 1/2] add mapping

---
 docs/services/navigation/_index.md | 55 ++++++++++++++++++++++++++++++
 1 file changed, 55 insertions(+)

diff --git a/docs/services/navigation/_index.md b/docs/services/navigation/_index.md
index 4a2469bc39..86952c615f 100644
--- a/docs/services/navigation/_index.md
+++ b/docs/services/navigation/_index.md
@@ -581,6 +581,61 @@ obstacles = await my_nav.get_obstacles()
 {{% /tab %}}
 {{< /tabs >}}
 
+### DoCommand
+
+Execute model-specific commands that are not otherwise defined by the service API.
+For built-in service models, any model-specific commands available are covered with each model's documentation.
+If you are implementing your own navigation service and add features that have no built-in API method, you can access them with `DoCommand`.
+
+{{< tabs >}}
+{{% tab name="Go" %}}
+
+**Parameters:**
+
+- `ctx` [(Context)](https://pkg.go.dev/context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
+- `cmd` [(map\[string\]interface{})](https://go.dev/blog/maps): The command to execute.
+
+**Returns:**
+
+- [(map\[string\]interface{})](https://go.dev/blog/maps): Result of the executed command.
+- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.
+
+```go {class="line-numbers linkable-line-numbers"}
+myNav, err := navigation.FromRobot(robot, "my_nav_service")
+
+resp, err := myNav.DoCommand(ctx, map[string]interface{}{"command": "dosomething", "someparameter": 52})
+```
+
+For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).
+
+{{% /tab %}}
+{{% tab name="Python" %}}
+
+**Parameters:**
+
+- `command` [(Mapping[str, ValueTypes])](https://docs.python.org/3/library/stdtypes.html#typesmapping): The command to execute.
+- `timeout` [(Optional\[float\])](https://docs.python.org/library/typing.html#typing.Optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
+
+**Returns:**
+
+- [(Mapping[str, ValueTypes])](https://docs.python.org/3/library/stdtypes.html#typesmapping): Result of the executed command.
+
+```python {class="line-numbers linkable-line-numbers"}
+my_nav = NavigationClient.from_robot(robot=robot, name="my_nav_service")
+
+my_command = {
+  "command": "dosomething",
+  "someparameter": 52
+}
+
+await my_nav.do_command(my_command)
+```
+
+For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/client/index.html#viam.services.navigation.client.NavigationClient.do_command).
+
+{{% /tab %}}
+{{< /tabs >}}
+
 ## Control Tab Usage
 
 After configuring the navigation service for your robot, navigate to the **Control** tab of the robot's page in the [Viam app](https://app.viam.com) and expand the card matching the name of your service to use an interface for rover navigation.

From 5dfa92dd8788b479670b86817046cfce129dfb5c Mon Sep 17 00:00:00 2001
From: Sierra Guequierre <sguequierre@gmail.com>
Date: Thu, 26 Oct 2023 11:36:20 -0400
Subject: [PATCH 2/2] add to includes

---
 static/include/services/apis/navigation.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/static/include/services/apis/navigation.md b/static/include/services/apis/navigation.md
index e26263408e..5cc74945df 100644
--- a/static/include/services/apis/navigation.md
+++ b/static/include/services/apis/navigation.md
@@ -7,3 +7,4 @@ Method Name | Description
 [`AddWaypoint`](/services/navigation/#addwaypoint) | Add a waypoint to the service's data storage.
 [`RemoveWaypoint`](/services/navigation/#removewaypoint) | Remove a waypoint from the service's data storage.
 [`GetObstacles`](/services/navigation/#getobstacles) | Get the obstacles currently in the service's data storage.
+[`DoCommand`](/services/navigation/#docommand) | Execute model-specific commands that are not otherwise defined by the service API.