DOCS-1079: Pt1: Update arm and base config instructions (#1920)

docs/components/arm/eva.md

@@ -7,7 +7,7 @@ draft: "true"
 description: "Configure an eva arm."
 images: ["/icons/components/arm.svg"]
 tags: ["arm", "components"]
-# SMEs: William Spies
+# SMEs: Bucket, Motion
 ---
 
 Configure an `eva` arm to integrate a [Automata Eva](https://automata.tech/products/hardware/about-eva/) robotic arm into your robot.

docs/components/arm/fake.md

@@ -6,7 +6,7 @@ type: "docs"
 description: "Configure a fake arm to use for testing."
 images: ["/icons/components/arm.svg"]
 tags: ["arm", "components"]
-# SMEs: William Spies
+# SMEs: Bucket, Motion
 ---
 
 Configure a `fake` arm to test different models of robotic arms without any physical hardware:
@@ -21,71 +21,79 @@ Enter a name for your arm and click **Create**.
 
 ![An example configuration for a fake ur5e arm in the Viam app Config Builder.](/components/arm/fake-arm-ui-config.png)
 
-Edit and fill in the attributes as applicable.
-This example sets the `fake` arm to act as a `ur5e` arm.
+Copy and paste the following attribute template into your arm's **Attributes** box.
+Then remove and fill in the attributes as applicable to your arm, according to the table below.
 
-{{% /tab %}}
-{{% tab name="JSON Template" %}}
+{{< tabs >}}
+{{% tab name="Attributes template" %}}
 
 ```json {class="line-numbers linkable-line-numbers"}
 {
-  "name": "<arm_name>",
-  "type": "arm",
-  "model": "fake",
-  "attributes": {
-    "arm-model": "<your_arm_model>"
-  }
+  "arm-model": "<string>",
+  "model-path": "<string>"
 }
 ```
 
 {{% /tab %}}
-{{< /tabs >}}
+{{% tab name="Attributes example" %}}
 
-The following attributes are available for `fake` arms:
-
-<!-- prettier-ignore -->
-| Name | Type | Inclusion | Description |
-| ---- | ---- | --------- | ----------- |
-| `arm-model` | string | Optional | `name` of the robotic arm model you want your fake arm to act as. See [built-in arm models](../#configuration) for supported model names. |
-| `model-path` | string | Optional | The path to the [kinematic configuration file](/internals/kinematic-chain-config/) of the arm driver you want your fake arm to act as. This path should point to the exact location where the file is located on your computer running `viam-server`. |
-
-{{% alert title="Important" color="note" %}}
-
-At least one of these attributes must be supplied for your `fake` arm to work.
-If neither are specified, an error is thrown asking for specification.
-If both attributes are specified, an error is thrown stating "can only populate either ArmModel or ModelPath - not both".
-
-{{% /alert %}}
+```json {class="line-numbers linkable-line-numbers"}
+{
+  "arm-model": "ur5e"
+}
+```
 
-Refer to the following JSON examples for differences in configuration between the two attributes available:
+{{% /tab %}}
+{{< /tabs >}}
 
-{{< tabs name="Configuration with arm-model or model-path" >}}
-{{% tab name="arm-model JSON Example" %}}
+{{% /tab %}}
+{{% tab name="JSON Template" %}}
 
 ```json {class="line-numbers linkable-line-numbers"}
 {
-  "name": "<arm-name>",
-  "type": "arm",
+  "name": "<arm_name>",
   "model": "fake",
+  "type": "arm",
+  "namespace": "rdk",
   "attributes": {
-    "arm-model": "ur5e"
-  }
+    "arm-model": "<your_arm_model>",
+    "model-path": "<path_to_arm_model>"
+  },
+  "depends_on": []
 }
 ```
 
 {{% /tab %}}
-{{% tab name="model-path JSON Example" %}}
+{{% tab name="JSON Example" %}}
 
 ```json {class="line-numbers linkable-line-numbers"}
 {
-  "name": "<arm-name>",
-  "type": "arm",
+  "name": "my-fake-arm",
   "model": "fake",
+  "type": "arm",
+  "namespace": "rdk",
   "attributes": {
-    "model-path": "</Users/<YOUR-USERNAME>/downloads/universalrobots/ur5e.json>"
-  }
+    "arm-model": "ur5e"
+  },
+  "depends_on": []
 }
 ```
 
 {{% /tab %}}
 {{< /tabs >}}
+
+The following attributes are available for `fake` arms:
+
+<!-- prettier-ignore -->
+| Name | Type | Inclusion | Description |
+| ---- | ---- | --------- | ----------- |
+| `arm-model` | string | Optional | Model name of the robotic arm model you want your fake arm to act as. See [built-in arm models](../#configuration) for supported model names. |
+| `model-path` | string | Optional | The path to the [kinematic configuration file](/internals/kinematic-chain-config/) of the arm driver you want your fake arm to act as. This path should point to the exact location where the file is located on your computer running `viam-server`. |
+
+{{% alert title="Important" color="note" %}}
+
+Exactly one of these attributes must be supplied for your `fake` arm to work.
+If neither are specified, an error is thrown asking for specification.
+If both attributes are specified, an error is thrown stating "can only populate either ArmModel or ModelPath - not both".
+
+{{% /alert %}}

docs/components/arm/ur5e.md

@@ -29,12 +29,13 @@ Edit and fill in the attributes as applicable.
 {
   "components": [
     {
-      "model": "ur5e",
       "name": "<your-arm-name>",
+      "model": "ur5e",
       "type": "arm",
+      "namespace": "rdk",
       "attributes": {
         "speed_degs_per_sec": <float>,
-        "host": "<your-host-address>",
+        "host": "<your-host-address>"
       },
       "depends_on": []
     }
@@ -48,19 +49,13 @@ Edit and fill in the attributes as applicable.
 ```json {class="line-numbers linkable-line-numbers"}
 {
   "components": [
-    {
-      "depends_on": [],
-      "model": "pi",
-      "name": "local",
-      "type": "board",
-      "attributes": {}
-    },
     {
       "name": "my-arm",
-      "type": "arm",
       "model": "ur5e",
+      "type": "arm",
+      "namespace": "rdk",
       "attributes": {
-        "speed_degs_per_sec": 1,
+        "speed_degs_per_sec": 30,
         "host": "10.1.10.82"
       },
       "depends_on": []
@@ -77,5 +72,5 @@ The following attributes are available for `ur5e` arms:
 <!-- prettier-ignore -->
 | Attribute | Type | Inclusion | Description |
 | --------- | ---- | ----------| ----------- |
-| `speed_degs_per_sec`  | float | **Required** | Desired maximum speed of joint movement in degrees/sec. <br> Range: `[.1, 1]` |
-| `host`  | string | **Required** | The IP address of the arm's system on your network. Find this when setting up your UR5e. |
+| `speed_degs_per_sec` | float | **Required** | Desired maximum speed of joint movement in degrees per second. Must be between `18` and `180`. |
+| `host` | string | **Required** | The IP address of the arm's system on your network. Find this when setting up your UR5e. |

docs/components/arm/xarm6.md

@@ -6,7 +6,7 @@ type: "docs"
 description: "Configure a UFACTORY xArm 6 into your robot."
 images: ["/icons/components/arm.svg"]
 tags: ["arm", "components"]
-# SMEs: William Spies
+# SMEs: Bucket, Motion
 ---
 
 Configure an `xArm6` arm to integrate a [UFACTORY xArm 6](https://www.ufactory.cc/product-page/ufactory-xarm-6) into your robot:
@@ -30,11 +30,15 @@ Edit and fill in the attributes as applicable.
 {
   "components": [
     {
-      "model": "xArm6",
       "name": "<your-arm-name>",
+      "model": "xArm6",
       "type": "arm",
+      "namespace": "rdk",
       "attributes": {
-        "host": "<your-arms-ip-address-on-your-network>"
+        "host": "<your-arms-ip-address-on-your-network>",
+        "port": <int>,
+        "speed_degs_per_sec": <float>,
+        "acceleration_degs_per_sec_per_sec": <float>
       },
       "depends_on": []
     }
@@ -49,6 +53,10 @@ Edit and fill in the attributes as applicable.
 {
   "components": [
     {
+      "name": "my_xArm6",
+      "model": "xArm6",
+      "type": "arm",
+      "namespace": "rdk",
       "attributes": {
         "host": "10.0.0.97"
       },
@@ -69,10 +77,7 @@ Edit and fill in the attributes as applicable.
           "y": 0,
           "z": 0
         }
-      },
-      "model": "xArm6",
-      "name": "xArm6",
-      "type": "arm"
+      }
     }
   ]
 }

docs/components/arm/xarm7.md

@@ -6,7 +6,7 @@ type: "docs"
 description: "Configure a UFACTORY xArm 7 for your robot."
 images: ["/icons/components/arm.svg"]
 tags: ["arm", "components"]
-# SMEs: William Spies
+# SMEs: Bucket, Motion
 ---
 
 Configure an `xArm7` arm to integrate a [UFACTORY xArm 7](https://www.ufactory.cc/product-page/ufactory-xarm-7) into your robot:
@@ -30,11 +30,15 @@ Edit and fill in the attributes as applicable.
 {
   "components": [
     {
-      "model": "xArm7",
       "name": "<your-arm-name>",
+      "model": "xArm7",
       "type": "arm",
+      "namespace": "rdk",
       "attributes": {
-        "host": "<ip-address-to-connect-to-your-arm>"
+        "host": "<ip-address-to-connect-to-your-arm>",
+        "port": <int>,
+        "speed_degs_per_sec": <float>,
+        "acceleration_degs_per_sec_per_sec": <float>
       },
       "depends_on": []
     }
@@ -49,6 +53,10 @@ Edit and fill in the attributes as applicable.
 {
   "components": [
     {
+      "name": "my_xArm7",
+      "model": "xArm7",
+      "type": "arm",
+      "namespace": "rdk",
       "attributes": {
         "host": "10.0.0.97"
       },
@@ -69,10 +77,7 @@ Edit and fill in the attributes as applicable.
           "y": 0,
           "z": 0
         }
-      },
-      "model": "xArm7",
-      "name": "xArm7",
-      "type": "arm"
+      }
     }
   ]
 }
@@ -86,9 +91,9 @@ The following attributes are available for `xArm7` arms:
 <!-- prettier-ignore -->
 | Attribute | Type | Inclusion | Description |
 | ----------| ---- | ----------| ----------- |
-| `host`  | string | **Required** | IP address of the arm's system on your network. Find this when setting up your xArm. |
-| `port`  | int | Optional | Port number of the arm's system. Find this when setting up your xArm. <br> Default: `502` |
+| `host` | string | **Required** | IP address of the arm's system on your network. Find this when setting up your xArm. |
+| `port` | int | Optional | Port number of the arm's system. Find this when setting up your xArm. <br> Default: `502` |
 | `speed_degs_per_sec` | float | Optional | Desired maximum speed of joint movement in degrees/sec. <br> Default: `20.0` |
-| `acceleration_degs_per_sec_per_sec`  | float | Optional | Desired maximum acceleration of joint movement in degrees/sec<sup>2</sup>. <br> Default: `50.0` |
+| `acceleration_degs_per_sec_per_sec` | float | Optional | Desired maximum acceleration of joint movement in degrees/sec<sup>2</sup>. <br> Default: `50.0` |
 
 See [the frame system service](/services/frame-system/) for more information on utilizing and modifying the `"frame"` configuration shown in the `JSON Example` above.