DOCS-2889: Turn access arm tutorial into how-to #3650
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viambot
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sguequierre
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| ## Move the arm | ||
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| The two main options for specifying arm movement are through **joint position commands** and through **pose commands**. | ||
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can you add some info on what these are and why you might choose one or the other?
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I'm going to ask Esha and Ray whether we should just take out the pose command stuff from this tutorial anyway since they are deprecated and the motion service does the same thing.
Edit: Per slack convo (cc'ed Sierra), sounds like we can leave in for now (or not, but probably easier to leave in). TBD what happens with this API anyway.
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@JessamyT can you check what I wrote on line 114? not entirely sure if that's the best description
docs/how-tos/move-robot-arm.md
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| {{% tablestep %}} | ||
| **1. Initiate motion with a joint position command** | ||
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| Add the following code to your script: |
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I think put that inside the tabs under the import and above the code? That's less awkward
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Love the GIFs and how this is looking. I think @JessamyT might actually be a better reviewer so tagging her here as well |
assets/how-tos/access-arm/config.png
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This image is oddly narrow--I know we don't like to add too much whitespace but I imagine most people will use at least a slightly wider browser window. Most of our config screenshots are a bit wider than this which I'd recommend so that it looks more like what people will see, and so that it fits into the page content more nicely.
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Deleting the image anyways
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Big fan of the GIFs! |
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I think it'd be good to show the full code at the end. |
Co-authored-by: JessamyT <[email protected]> Co-authored-by: Naomi Pentrel <[email protected]>
docs/how-tos/move-robot-arm.md
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| {{<imgproc src="/tutorials/motion/access_01_xarm6.png" resize="500x" declaredimensions=true alt="A picture of the UFACTORY xArm 6." style="width: 150px" class="fill alignleft" >}} | ||
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I think this actually looks weird here I think let's remove
| {{<imgproc src="/tutorials/motion/access_01_xarm6.png" resize="500x" declaredimensions=true alt="A picture of the UFACTORY xArm 6." style="width: 150px" class="fill alignleft" >}} |
docs/how-tos/move-robot-arm.md
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| {{< /alert >}} | ||
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| {{< alert title="Caution" color="caution" >}} |
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To avoid having two alerts here, let's put this with the Move the arm section
docs/how-tos/move-robot-arm.md
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| weight: 70 | ||
| type: "docs" | ||
| tags: ["arm", "components"] | ||
| images: ["/tutorials/motion/preview.jpg"] |
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can you add your gif as a preview here?
removed line numbers |
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Thoughts on showing the full script? Some sections still have line numbers so the mix looks odd. Either remove from all or add to all with somewhat correct-ish numbers. |
@JessamyT I don't think the full script is necessary for a how-to. unless you feel strongly otherwise I'm fine with it as-is |
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You can view a rendered version of the docs from this PR at https://docs-test.viam.dev/3650 |
https://docs-test.viam.dev/3650/how-tos/move-robot-arm/