DOCS-2110: Update frame system screenshots for R2D2 editor #3597
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Collaborator
sguequierre
commented
Oct 18, 2024
•
sguequierre
commented
- edits frame system service and reference frame docs
- replaces screenshots
- cleans up service page a bit
viambot
added
the
safe to build
sguequierre
commented
Oct 18, 2024
|
|
||
| 3. To adjust the frame from its default configuration, change the parameters as needed for your machine before saving. | ||
| Select a **Parent** frame and fill in the coordinates for **Translation** (_mm_) and **Orientation** (_deg_, _rad_, or _q_), according to the position and orientation of your component in relation to the **Parent** frame. | ||
| Select a **Parent** frame and fill in the coordinates for **Translation** (m) and **Orientation** (deg, rad, or q), according to the position and orientation of your component in relation to the **Parent** frame. |
There was a problem hiding this comment.
unitalicized units bc i looked it up and apparently you're not supposed to do that
sguequierre
commented
Oct 18, 2024
| @@ -151,9 +153,9 @@ Configure the reference frame as follows: | |||
| | Parameter | Required? | Required | | |||
| | --------- | ----------- | ----- | | |||
| | `parent` | **Required** | Default: `world`. The name of the reference frame you want to act as the parent of this frame. | | |||
| | `translation` | **Required** | Default: `(0, 0, 0)`. The coordinates that the origin of this component's reference frame has within its parent reference frame. <br> Units: _mm_. | | |||
| | `translation` | **Required** | Default: `(0, 0, 0)`. The coordinates that the origin of this component's reference frame has within its parent reference frame. <br> Units: m in Frame Editor, mm in JSON. | | |||
There was a problem hiding this comment.
this is indeed the case that the units are different in the editor-- confirmed with michael parks. a bit odd but he said he would make a ticket to mark units on the editor so at least that will be more clear
sguequierre
commented
Oct 18, 2024
| @@ -288,127 +265,13 @@ The resulting tree of reference frames looks like: | |||
|
|
|||
| ## Access the frame system | |||
|
|
|||
| The [Robot API](https://github.com/viamrobotics/api/blob/main/proto/viam/robot/v1/robot.proto) supplies the following method to interact with the frame system: | |||
| The [Machine Management API](/appendix/apis/robot/) supplies the following methods to interact with the frame system: | |||
|
|
|||
| <!-- prettier-ignore --> | |||
| | Method Name | Description | | |||
| | ----- | ----------- | | |||
There was a problem hiding this comment.
removed this in favor of linking to the methods (which we now have both documented) bc I think that makes more sense/leaves us not having to duplicate, lmk and I can put them back
sguequierre
commented
Oct 18, 2024
|
|
||
| Now that the frame system is accurately configured with the machine's spatial orientation, [motion service](/services/motion/) methods that take in reference frame information can be used. | ||
|
|
||
| ### Display options |
There was a problem hiding this comment.
removed this part bc it should be self explanatory in the app
npentrel
approved these changes
Oct 18, 2024
Co-authored-by: Naomi Pentrel <[email protected]>
|
You can view a rendered version of the docs from this PR at https://docs-test.viam.dev/3597 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.