Correct motion and frame system API reference accuracy#5200
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btshrewsbury-viam wants to merge 1 commit into
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Correct motion and frame system API reference accuracy#5200btshrewsbury-viam wants to merge 1 commit into
btshrewsbury-viam wants to merge 1 commit into
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- api.md: the builtin motion service implements Move, GetPose (deprecated), DoCommand, and GetStatus; the five base-navigation methods return 'not supported by builtin' (confirmed against a live viam-server v1.0.0 and rdk services/motion/builtin at the v1.0.0 tag). The page previously said builtin supports 'Move, DoCommand, and GetStatus, and nothing else', contradicting its own GetPose section. Also: executeCheckStart is an optional key inside an execute DoCommand request, not a standalone command; documented the teleop commands; noted GetStatus is a common resource RPC absent from the generated table. - frame-system-api.md: fixed an inverted code comment (a Transform's reference_frame names the new frame; pose_in_observer_frame carries its pose in the parent frame); removed an unverifiable roadmap claim; named the Go client method for TransformPCD (TransformPointCloud); flipped negation-first passages positive; action-oriented description. - kinematics.md: DH parameters are a kinematic_param_type="DH" mode with a dhParams array, not inline in an SVA file; documented links[].orientation (linking the orientation-vector reference) and joints[].geometry (prismatic only); mimic multiplier defaults to 1.0; Viam Registry casing. - _index.md: replaced an idiom.
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What
Accuracy fixes for the motion-planning reference cluster, from the section review (verified against RDK v1.0.0 source and a live viam-server v1.0.0).
api.md: The page said the builtin service supports "Move,DoCommand, andGetStatus, and nothing else" — contradicted by its own GetPose section and by the RDK: builtin implementsMove,GetPose(deprecated, delegates to the frame system),DoCommand, andGetStatus, whileMoveOnMap/MoveOnGlobe/StopPlan/ListPlanStatuses/GetPlanreturnnot supported by builtin(live-confirmed exact string). Also:executeCheckStartis an optional key inside anexecuteDoCommand request, not a standalone command; documented the teleop commands; noted GetStatus is a common resource RPC omitted from the generated table.frame-system-api.md: A worked-example comment inverted theTransformfield semantics (reference_framenames the new frame;pose_in_observer_framecarries its pose in the parent) — the code was right, the comment wasn't. Removed an unverifiable roadmap claim, named the Go client method forTransformPCD(TransformPointCloud), flipped negation-first passages, made the description action-oriented.kinematics.md: DH parameters are akinematic_param_type: "DH"mode with adhParamsarray, not inline in an SVA file (rdk/referenceframe/model_json.go); added the missinglinks[].orientation(cross-linking the orientation-vector reference) andjoints[].geometry(prismatic only) schema fields; mimicmultiplierdefaults to 1.0._index.md: idiom swap.Verification
prettier, markdownlint, vale (0 errors),
make build-prodall pass. Builtin method surface confirmed against a live v1.0.0 server.🤖 Generated with Claude Code