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 +## 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`. -
- Record a frame +
+
- -
- 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. -
- Edit a frame +
+
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