Motion planning section: code hygiene and style batch#5201
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btshrewsbury-viam wants to merge 1 commit into
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Motion planning section: code hygiene and style batch#5201btshrewsbury-viam wants to merge 1 commit into
btshrewsbury-viam wants to merge 1 commit into
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…view Accuracy: - pick-an-object.md: define the world_state the page passes to every Move call (the pick-to-place running example previously failed with NameError); grab() returns what the gripper module reports, not a contact-sensor reading; recommend is_holding_something() instead of a force-feedback API that does not exist (confirmed in Python SDK 0.79.1 against a live v1.0.0 server). - place-an-object.md: SURFACE_HEIGHT is the surface z plus the end-effector-to-object-bottom distance, not half the object height. - move-by-joint-positions.md: max_tcp_speed is a cap; the arm module enforces caps. - constraints.md: orientation_tolerance_degs is optional (default 0); linear constraints below 10 mm/deg disable the cBiRRT fallback (link to How motion planning works); non-adjacent frame pairs. - move-gantry.md: gantries have one or more linear axes; Move plans and executes; removed a safety-guarantee claim. - attach-detach-geometries.md: replace an invented error string with the message a live v1.0.0 server actually returns; fix a comment/code sign mismatch on the attached-box offset. - 3d-scene pages: orientation-vector components are unitless (only th is degrees), stated on three pages. Style and structure: - Em dashes to colons; banned words (surfaces, ships, whitelist, shape-as-vague-noun); negation-first openings flipped positive per house style; personified planner sentences given real actors. - Undefined Go variables get imports or continuation comments (avoid-obstacles, move-gantry, move-with-constraints, move-to-pose). - Prerequisites heading standardized; multiple-waypoints gains a Prerequisites section; constraints reference re-weighted after the how-tos; card order matches the learning path; two frontmatter descriptions shortened under the Hugo limit.
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What
The code-hygiene and style batch from the motion-planning section review, covering move-an-arm, obstacles, move-gantry, the quickstarts index, and the 3d-scene pages. File-disjoint from #5099, #5197, and the two sibling review PRs.
Runnable-code fixes (live-verified where noted):
pick-an-object.mdpassed aworld_stateto everymove()call without ever defining it (andplace-an-object.mdsays it "is already defined in that script") — running the page verbatim raisedNameError. It now defines the table obstacle it advertises. Also:grab()returns what the gripper module reports (the "contact sensor" explanation was invented), and the slip-check tip now usesis_holding_something()— confirmed present in Python SDK 0.79.1 and working against a live v1.0.0 server — instead of a force-feedback API that does not exist.attach-detach-geometries.mdquoted an error string that no RDK version emits; replaced with the message a live v1.0.0 server actually returns (Cannot construct frame system. Some parts are not linked to the world frame. …), and fixed a comment/code sign mismatch on the attached-box offset.place-an-object.md:SURFACE_HEIGHTgeometry corrected (end-effector-to-object-bottom distance, not "half the object's height").move-by-joint-positions.md:max_tcp_speedis a cap, and the arm module is responsible for enforcing caps (RDKpb_helpers.gosays enforcement is up to the implementer).constraints.md:orientation_tolerance_degsis optional (proto), and the Performance section now states the real behavior change: linear tolerances below 10 mm/deg disable the cBiRRT fallback entirely (links How motion planning works).move-gantry.md: gantries have one or more linear axes (single-axis is first-class);Moveplans and executes; removed an "only safe choice" guarantee claim.this degrees (was stated wrong on three pages).Style/structure: em dashes to colons; banned words (
surfaces,ships,whitelist, vagueshape); negation-drumbeat and personified-planner openings flipped positive per house style; undefined Go variables get imports or continuation notes on four pages; Prerequisites heading standardized and added tomultiple-waypoints.md; constraints reference re-weighted after the how-tos it kept sorting above; two frontmatter descriptions brought under the Hugo length limit.Deliberately untouched:
3d-scene/set-up-obstacle-avoidance.md's title/URL mismatch (its content is "verify obstacles") — #5099 addsobstacles/verify-obstacles.md, so the rename needs coordination with that PR.Verification
prettier, markdownlint, vale (0 errors),
make build-prodall pass.🤖 Generated with Claude Code