DOCS-2329: GeoObstacle -> GeoGeometry

docs/services/motion/_index.md

@@ -497,7 +497,7 @@ Make sure the [movement sensor](/components/movement-sensor/) you use supports u
 The `heading` parameter is experimental.
 Specifying `heading` in a request to `MoveOnGlobe` is not currently recommended if the minimum turning radius of your component is greater than zero, as this combination may cause high latency in the [motion planning algorithms](/services/motion/algorithms/).
 
-Specifying `obstacles` in a request to `MoveOnGlobe()` will cause an error if you configure a `"translation"` in the `"geometries"` of any of the `GeoObstacle` objects.
+Specifying `obstacles` in a request to `MoveOnGlobe()` will cause an error if you configure a `"translation"` in the `"geometries"` of any of the `GeoGeometry` objects.
 Translation in obstacles is not supported by the [navigation service](/services/navigation/).
 
 {{< /alert >}}
@@ -510,7 +510,7 @@ Translation in obstacles is not supported by the [navigation service](/services/
 - `component_name` [(ResourceName)](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName): The `ResourceName` of the base to move.
 - `destination` [(GeoPoint)](https://python.viam.dev/autoapi/viam/components/movement_sensor/index.html#viam.components.movement_sensor.GeoPoint): The location of the component's destination, represented in geographic notation as a [GeoPoint](https://python.viam.dev/autoapi/viam/components/movement_sensor/index.html#viam.components.movement_sensor.GeoPoint) _(lat, lng)_.
 - `movement_sensor_name` [(ResourceName)](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName): The `ResourceName` of the [movement sensor](/components/movement-sensor/) that you want to use to check the machine's location.
-- `obstacles` [(Optional[Sequence[GeoObstacle]])](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.GeoObstacle): Obstacles to consider when planning the motion of the component, with each represented as a `GeoObstacle`. <ul><li> Default: `None` </li></ul>
+- `obstacles` [(Optional[Sequence[GeoGeometry]])](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.GeoGeometry): Obstacles to consider when planning the motion of the component, with each represented as a `GeoGeometry`. <ul><li> Default: `None` </li></ul>
 - `heading` [(Optional[float])](https://docs.python.org/library/typing.html#typing.Optional): The compass heading, in degrees, that the machine's movement sensor should report at the `destination` point. <ul><li> Range: `[0-360)` 0: North, 90: East, 180: South, 270: West </li><li>Default: `None`</li></ul>
 - `configuration` [(Optional[MotionConfiguration])](https://python.viam.dev/autoapi/viam/proto/service/motion/index.html#viam.proto.service.motion.MotionConfiguration): The configuration you want to set across this machine for this motion service. This parameter and each of its fields are optional.
   - `obstacle_detectors` [(Iterable[ObstacleDetector])](https://python.viam.dev/autoapi/viam/proto/service/motion/index.html#viam.proto.service.motion.ObstacleDetector): The names of each [vision service](/services/vision/) and [camera](/components/camera/) resource pair you want to use for transient obstacle avoidance.
@@ -557,7 +557,7 @@ execution_id = await motion.move_on_globe(
   - `destination` [(\*geo.Point)](https://pkg.go.dev/github.com/kellydunn/golang-geo#Point): The location of the component's destination, represented in geographic notation as a [Point](https://pkg.go.dev/github.com/kellydunn/golang-geo#Point) _(lat, lng)_.
   - `heading` [(float64)](https://pkg.go.dev/builtin#float64): The compass heading, in degrees, that the machine's movement sensor should report at the `destination` point. <ul><li> Range: `[0-360)` 0: North, 90: East, 180: South, 270: West</li><li>Default: `0`</li></ul>
   - `movementSensorName` [(resource.Name)](https://pkg.go.dev/go.viam.com/rdk/resource#Name): The `resource.Name` of the [movement sensor](/components/movement-sensor/) that you want to use to check the machine's location.
-  - `obstacles` [([]\*spatialmath.GeoObstacle)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#GeoObstacle): Obstacles to consider when planning the motion of the component, with each represented as a `GeoObstacle`. <ul><li> Default: `nil` </li></ul>
+  - `obstacles` [([]\*spatialmath.GeoGeometry)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#GeoGeometry): Obstacles to consider when planning the motion of the component, with each represented as a `GeoGeometry`. <ul><li> Default: `nil` </li></ul>
   - `motionConfig` [(\*MotionConfiguration)](https://pkg.go.dev/go.viam.com/rdk/services/motion#MotionConfiguration): The configuration you want to set across this machine for this motion service. This parameter and each of its fields are optional.
     - `ObstacleDetectors` [([]ObstacleDetectorName)](https://pkg.go.dev/go.viam.com/rdk/services/motion#ObstacleDetectorName): The names of each [vision service](/services/vision/) and [camera](/components/camera/) resource pair you want to use for transient obstacle avoidance.
     - `PositionPollingFreqHz` [(float64)](https://pkg.go.dev/builtin#float64): The frequency in hz to poll the position of the machine.

docs/services/navigation/_index.md

@@ -608,7 +608,7 @@ See the [motion service](/services/motion/) for more information.
 
 **Returns:**
 
-- [(List[navigation.GeoObstacle])](https://python.viam.dev/autoapi/viam/services/navigation/index.html#viam.services.navigation.GeoObstacle): A list comprised of each `GeoObstacle` in the service's data storage.
+- [(List[navigation.GeoGeometry])](https://python.viam.dev/autoapi/viam/services/navigation/index.html#viam.services.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 the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/navigation/index.html#viam.services.navigation.NavigationClient.get_obstacles).
@@ -630,7 +630,7 @@ obstacles = await my_nav.get_obstacles()
 
 **Returns:**
 
-- [([]\*spatialmath.GeoObstacle)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#GeoObstacle): An array comprised of each `GeoObstacle` in the service's data storage.
+- [([]\*spatialmath.GeoGeometry)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#GeoGeometry): An array comprised of each `GeoGeometry` in the service's data storage.
   These are objects designated for the robot to avoid when navigating.
 - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.
 

static/include/services/apis/overrides/protos/motion.MoveOnGlobe.md

@@ -28,7 +28,7 @@ Make sure the [movement sensor](/components/movement-sensor/) you use supports u
 The `heading` parameter is experimental.
 Specifying `heading` in a request to `MoveOnGlobe` is not currently recommended if the minimum turning radius of your component is greater than zero, as this combination may cause high latency in the [motion planning algorithms](/services/motion/algorithms/).
 
-Specifying `obstacles` in a request to `MoveOnGlobe()` will cause an error if you configure a `"translation"` in the `"geometries"` of any of the `GeoObstacle` objects.
+Specifying `obstacles` in a request to `MoveOnGlobe()` will cause an error if you configure a `"translation"` in the `"geometries"` of any of the `GeoGeometry` objects.
 Translation in obstacles is not supported by the [navigation service](/services/navigation/).
 
 {{< /alert >}}