Hardware: end-effector attachment on arm page; frame-config step on camera page#4968
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shannonbradshaw wants to merge 1 commit intoviamrobotics:mainfrom
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Hardware: end-effector attachment on arm page; frame-config step on camera page#4968shannonbradshaw wants to merge 1 commit intoviamrobotics:mainfrom
shannonbradshaw wants to merge 1 commit intoviamrobotics:mainfrom
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…amera page Applies playbook-reviewer-feedback. Two small changes bounded by one reviewer ask plus one verified structural gap. ### add-an-arm.md — answers the reviewer's ask Reviewer asked: > Can we describe the after arm frame here, the json, urdf, etc? Two paragraphs appended inside the existing "Configure a frame (recommended)" step: 1. Set the attached component's `parent` to the arm's name to attach a gripper, camera, or other tool to the end effector. Links to add-a-gripper's frame step for a worked example (no JSON duplication). 2. Custom arm modules implement the arm's `Kinematics` method to return the kinematic model. Links to /motion-planning/reference/kinematics/ for URDF and SVA JSON formats, and /build-modules/write-a-driver-module/ for the module-code side. ### add-a-camera.md — structural gap surfaced while addressing the ask The camera how-to had no Configure-a-frame step. The arm and gripper how-tos both do, and wrist-mounted cameras on arms are a common setup. Deliberate scope expansion beyond the reviewer's literal comment; consistency fix across peer how-to pages. New step 4 "Configure a frame (recommended)" inserted between the existing attributes step and the existing save step (old steps 4 and 5 renumber to 5 and 6). Three patterns: - Wrist-mounted on an arm (parent = arm name, with JSON example). - Fixed in the workspace (parent = world). - Mounted on a mobile base (parent = base name) — called out as a static offset, not live tracking, because bases do not contribute a dynamic frame. Verified against rdk/robot/impl/local_robot.go line 1219, where the frame system extracts a kinematics model only for arms, gantries, and grippers; bases fall in the default case. Cross-links to /hardware/multi-machine/cross-machine-frames/ for remote-part cameras and /motion-planning/frame-system/ for the full reference. ### Deliberate non-additions - No reference-style description of what frames the arm contributes (belongs on the frame-system reference page, not a how-to). - No Viam app UI references. The flow-document requirement from the playbook says UI claims need a pre-existing flow doc; no applicable doc exists, and the ask does not require one. - No `GetFrameSystemConfig` SDK guidance. The call returns parts with an embedded kinematics model, not a flattened list of link names, so the most useful thing I could have said would have required caveats this PR does not need. ### Verification log Every claim traced to source in Phase 1 of the playbook. Key anchors: rdk/robot/impl/local_robot.go:1219 (arm is a ModelFramer, base is not); rdk/components/arm/client.go:190 (Kinematics method signature); docs/motion-planning/reference/kinematics.md covers URDF and SVA JSON; all link targets confirmed present. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Hey @shannonbradshaw — CI is green and no reviewer is assigned yet. Could you request one when you have a chance? Auto-comment from overwatch. Will not re-nudge for 7 days. |
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Summary
Applies the reviewer-feedback playbook. Two small changes bounded by one reviewer ask plus one verified structural gap.
Reviewer feedback addressed
On `/hardware/common-components/add-an-arm/`:
Changes
add-an-arm.md— reviewer askTwo paragraphs appended inside the existing "Configure a frame (recommended)" step:
add-a-camera.md— structural gap (deliberate scope expansion)The camera how-to had no Configure-a-frame step. The arm and gripper how-tos both do. Wrist-mounted cameras on arms are a common setup. Flagging as deliberate scope expansion beyond the reviewer's verbatim comment, per the playbook's scope-discipline rule.
New "### 4. Configure a frame (recommended)" inserted between the existing attributes step and save step. Old steps 4 and 5 renumber to 5 and 6. Three patterns:
Cross-links to `/hardware/multi-machine/cross-machine-frames/` for remote-part cameras and `/motion-planning/frame-system/` for the full reference.
Verification (full log from Phase 1)
Deliberately out of scope
Test plan
/hardware/common-components/add-an-arm/— two new paragraphs render inside "Configure a frame"/hardware/common-components/add-a-camera/— new step 4 renders; steps 5 and 6 renumber correctly; JSON block rendersadd-a-gripper/#3-configure-a-frame-recommendedresolves/motion-planning/reference/kinematics/resolves/hardware/multi-machine/cross-machine-frames/resolves🤖 Generated with Claude Code