diff --git a/docs/core/examples/guides/application-frames.md b/docs/core/examples/guides/application-frames.md
index 4252d6e9..4dffe23a 100644
--- a/docs/core/examples/guides/application-frames.md
+++ b/docs/core/examples/guides/application-frames.md
@@ -3,9 +3,9 @@ sidebar_position: 4
title: Application frames
---
-import createFrame from './assets/create-frame.gif'
-import recordFrame from './assets/record-frame.gif'
-import editFrame from './assets/edit-frame.gif'
+import createFrame from './assets/create-frame.webm'
+import recordFrame from './assets/record-frame.webm'
+import editFrame from './assets/edit-frame.webm'
# Application Frames in AICA Studio
@@ -17,15 +17,27 @@ If you haven't done so already, review the corresponding [concepts page](/docs/c
:::
-## Create frame in 3D scene view
+There are two ways to access settings and functionality for application frames in AICA Studio, depending on where the 3D
+scene lies:
-Using the "Create a frame" dropdown in the 3D scene view in AICA Studio, users can create a new named frame which can
-then be dragged to the desired location in the scene. The position, orientation and reference frame of the frame appear
-under `frames` in the application YAML and are updated on drag.
+- With the 3D scene on the main view of the AICA Studio editor, the options to create and record frames can be found
+ under the **Scene** tab in the right panel.
+- With the 3D scene in the right panel, under **3D view**, the options can be found by clicking on the **Settings**
+ button on the top left of the scene.
-
-
+## Create a frame
+
+The "Create a frame" option can be used to create a new named frame, which can then be dragged to the desired location
+in the scene. The position, orientation and reference frame of the frame appear under `frames` in the application YAML
+and are updated on drag.
+
+
+
+
:::note
@@ -33,56 +45,20 @@ Frames are created at the origin of the scene and have reference frame `world` b
:::
-## Record frame in 3D scene view
+## Record a frame
-Application frames can be created by recording an existing frame from TF. The "Record a frame" dropdown allows to save
-any available frame from TF under a new name in a running application. This can be useful to obtain the end-effector
-pose of a robot in various locations, which will then be used as waypoints for the robot movements in the application
-flow. In the example below, the end-effector frame `tool0` of the robot is recorded as `target`.
+Application frames can be created by recording an existing frame from TF. The "Record a frame" option allows to save any
+available frame from TF under a new name in a running application. This can be useful to obtain the end-effector pose of
+a robot in various locations, which will then be used as waypoints for the robot movements in the application flow. In
+the example below, the end-effector frame `tool0` of the robot is recorded as `target`.
-
-
+
+
-
-
- Application YAML
-
- ```yaml
- schema: 2-0-4
- dependencies:
- core: v4.4.1
- on_start:
- load:
- hardware: hardware
- hardware:
- hardware:
- display_name: Hardware Interface
- urdf: Generic six-axis robot arm
- rate: 100
- events:
- transitions:
- on_load:
- load:
- controller: robot_state_broadcaster
- hardware: hardware
- controllers:
- robot_state_broadcaster:
- plugin: aica_core_controllers/RobotStateBroadcaster
- events:
- transitions:
- on_load:
- switch_controllers:
- hardware: hardware
- activate: robot_state_broadcaster
- graph:
- positions:
- hardware:
- hardware:
- x: 500
- y: -20
- ```
-
-
+
:::note
@@ -93,10 +69,13 @@ frames might be supported.
## Edit frames in application YAML
-Users that are familiar with the application YAML can also add, remove, and edit frames in the application YAML.
+Users that are familiar with the application YAML can also add, remove, and edit frames in the application YAML.
-
-
+
+
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