DOCS-2313: Clean up gantry, camera, board, encoder and arm pages for docs parsing

src/viam/components/arm/arm.py

@@ -35,7 +35,7 @@ async def get_end_position(
         **kwargs,
     ) -> Pose:
         """
-        Get the current position of the end of the arm expressed as a Pose.
+        Get the current position of the end of the arm expressed as a ``Pose``.
 
         ::
 
@@ -44,8 +44,14 @@ async def get_end_position(
             # Get the end position of the arm as a Pose.
             pos = await my_arm.get_end_position()
 
+        Args:
+            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
+            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
         Returns:
-            Pose: The location and orientation of the arm described as a Pose.
+            Pose: A representation of the arm’s current position as a 6 DOF (six degrees of freedom) pose.
+            The ``Pose`` is composed of values for location and orientation with respect to the origin.
+            Location is expressed as distance, which is represented by x, y, and z coordinate values.
+            Orientation is expressed as an orientation vector, which is represented by o_x, o_y, o_z, and theta values.
         """
         ...
 
@@ -72,7 +78,11 @@ async def move_to_position(
             await my_arm.move_to_position(pose=examplePose)
 
         Args:
-            pose (Pose): The destination Pose for the arm.
+            pose (Pose): The destination ``Pose`` for the arm. The ``Pose`` is composed of values for location and orientation with respect to the origin.
+                Location is expressed as distance, which is represented by x, y, and z coordinate values.
+                Orientation is expressed as an orientation vector, which is represented by o_x, o_y, o_z, and theta values.
+                extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
+                timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
         """
         ...
 
@@ -105,6 +115,8 @@ async def move_to_joint_positions(
 
         Args:
             positions (JointPositions): The destination ``JointPositions`` for the arm.
+            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
+            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
         """
         ...
 
@@ -126,8 +138,12 @@ async def get_joint_positions(
             # Get the current position of each joint on the arm as JointPositions.
             pos = await my_arm.get_joint_positions()
 
+        Args:
+            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
+            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
         Returns:
-            JointPositions: The current JointPositions for the arm.
+            JointPositions: The current ``JointPositions`` for the arm.
+            ``JointPositions`` can have one attribute, ``values``, a list of joint positions with rotational values (degrees) and translational values (mm).
         """
         ...
 
@@ -148,6 +164,10 @@ async def stop(
 
             # Stop all motion of the arm. It is assumed that the arm stops immediately.
             await my_arm.stop()
+
+        Args:
+            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
+            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
         """
         ...
 
@@ -193,7 +213,7 @@ async def get_kinematics(
 
         Returns:
             Tuple[KinematicsFileFormat.ValueType, bytes]: A tuple containing two values; the first [0] value represents the format of the
-                file, either in URDF format or Viam's kinematic parameter format (spatial vector algebra), and the second [1] value
-                represents the byte contents of the file.
+            file, either in URDF format or Viam's kinematic parameter format (spatial vector algebra), and the second [1] value
+            represents the byte contents of the file.
         """
         ...

src/viam/components/gantry/gantry.py

@@ -26,7 +26,7 @@ class Gantry(ComponentBase):
     @abc.abstractmethod
     async def get_position(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[float]:
         """
-        Get the position in millimeters.
+        Get the positions of the axes of the gantry in millimeters.
 
         ::
 
@@ -35,8 +35,11 @@ async def get_position(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
             # Get the current positions of the axes of the gantry in millimeters.
             positions = await my_gantry.get_position()
 
+        Args:
+            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
+            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
         Returns:
-            List[float]: The position of the axes.
+            List[float]: A list of the position of the axes of the gantry in millimeters.
         """
         ...
 
@@ -51,7 +54,7 @@ async def move_to_position(
         **kwargs,
     ):
         """
-        Move the gantry to a new position at the requested speeds.
+        Move the axes of the gantry to the desired positions (mm) at the requested speeds (mm/sec).
 
         ::
 
@@ -68,24 +71,29 @@ async def move_to_position(
                 positions=examplePositions, speeds=exampleSpeeds)
 
         Args:
-            positions (List[float]): List of positions for the axes to move to,
-                in millimeters.
+            positions (List[float]): A list of positions for the axes of the gantry to move to, in millimeters.
+            speeds (List[float]): A list of speeds in millimeters per second for the gantry to move at respective to each axis.
+            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
+            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
         """
         ...
 
     @abc.abstractmethod
     async def home(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> bool:
         """
-        Home the gantry to find it's starting and ending positions
+        Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches.
 
         ::
 
             my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")
 
             await my_gantry.home()
 
+        Args:
+            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
+            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
         Returns:
-            bool : whether the gantry has run the homing sequence successfully
+            bool: Whether the gantry has run the homing sequence successfully.
         """
 
     @abc.abstractmethod
@@ -100,8 +108,11 @@ async def get_lengths(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
             # Get the lengths of the axes of the gantry in millimeters.
             lengths_mm = await my_gantry.get_lengths()
 
+        Args:
+            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
+            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
         Returns:
-            List[float]: The lengths of the axes.
+            List[float]: A list of the lengths of the axes of the gantry in millimeters.
         """
         ...
 
@@ -118,6 +129,9 @@ async def stop(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optiona
             # immediately.
             await my_gantry.stop()
 
+        Args:
+            extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
+            timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
         """
         ...