Fixup remaining usages of log_rigid3 in docs (#2831)

Fixes #2472

### Checklist
* [x] I have read and agree to [Contributor
Guide](https://github.com/rerun-io/rerun/blob/main/CONTRIBUTING.md) and
the [Code of
Conduct](https://github.com/rerun-io/rerun/blob/main/CODE_OF_CONDUCT.md)
* [x] I've included a screenshot or gif (if applicable)
* [x] I have tested [demo.rerun.io](https://demo.rerun.io/pr/2831) (if
applicable)

- [PR Build Summary](https://build.rerun.io/pr/2831)
- [Docs
preview](https://rerun.io/preview/pr%3Aandreas%2Ffix-remaining-doc-usages-of-rigid-transform/docs)
- [Examples
preview](https://rerun.io/preview/pr%3Aandreas%2Ffix-remaining-doc-usages-of-rigid-transform/examples)

docs/content/howto/ros2-nav-turtlebot.md

@@ -145,7 +145,7 @@ This timestamp will apply to all subsequent log calls on in this callback (on th
 again.
 
 
-### TF to `log_rigid3`
+### TF to `log_transform3d`
 Next, we need to map the [ROS TF2](https://docs.ros.org/en/humble/Concepts/About-Tf2.html) transforms to the
 corresponding [Rerun Transforms](../concepts/spaces-and-transforms.md#space-transformations).
 
@@ -173,8 +173,8 @@ of this code to go away.
 For now, on each incoming log message, we want to use the mapping to update the transform
 at the timestamp in question:
 ```python
-def log_tf_as_rigid3(self, path: str, time: Time) -> None:
-    """Helper to look up a transform with tf and log using `log_rigid3`."""
+def log_tf_as_transform3d(self, path: str, time: Time) -> None:
+    """Helper to look up a transform with tf and log using `log_transform3d`."""
     # Get the parent path
     parent_path = path.rsplit("/", 1)[0]
 
@@ -190,23 +190,24 @@ def log_tf_as_rigid3(self, path: str, time: Time) -> None:
                                              timeout=Duration(seconds=0.1))
         t = tf.transform.translation
         q = tf.transform.rotation
-        rr.log_rigid3(path, parent_from_child=([t.x, t.y, t.z],
-                                               [q.x, q.y, q.z, q.w]))
+        rr.log_transform3d(
+            path, rr.TranslationRotationScale3D([t.x, t.y, t.z], rr.Quaternion(xyzw=[q.x, q.y, q.z, q.w]))
+        )
     except TransformException as ex:
         print("Failed to get transform: {}".format(ex))
 ```
 
 As an example of logging points in the map frame, we simply call:
 ```python
 rr.log_points("map/points", positions=pts, colors=colors)
-self.log_tf_as_rigid3("map/points", time)
+self.log_tf_as_transform3d("map/points", time)
 ```
 
 Note that because we previously called `set_time_nanos` in this callback, this transform will
 be logged to the same point on the timeline as the data, using a timestamp looked up from TF at the
 matching timepoint.
 
-### Odometry to `log_scalar` and `log_rigid3`
+### Odometry to `log_scalar` and `log_transform3d`
 When receiving odometry messages, we log the linear and angular velocities using `rr.log_scalar`.
 Additionally, since we know that odometry will also update the `map/robot` transform, we use
 this as a cue to look up the corresponding transform and log it.
@@ -221,7 +222,7 @@ def odom_callback(self, odom: Odometry) -> None:
     rr.log_scalar("odometry/ang_vel", odom.twist.twist.angular.z)
 
     # Update the robot pose itself via TF
-    self.log_tf_as_rigid3("map/robot", time)
+    self.log_tf_as_transform3d("map/robot", time)
 ```
 
 ### CameraInfo to `log_pinhole`
@@ -264,7 +265,7 @@ def image_callback(self, img: Image) -> None:
     rr.set_time_nanos("ros_time", time.nanoseconds)
 
     rr.log_image("map/robot/camera/img", self.cv_bridge.imgmsg_to_cv2(img))
-    self.log_tf_as_rigid3("map/robot/camera", time)
+    self.log_tf_as_transform3d("map/robot/camera", time)
 ```
 
 ### PointCloud2 to `log_points`
@@ -308,7 +309,7 @@ def points_callback(self, points: PointCloud2) -> None:
     # Log points once rigidly under robot/camera/points. This is a robot-centric
     # view of the world.
     rr.log_points("map/robot/camera/points", positions=pts, colors=colors)
-    self.log_tf_as_rigid3("map/robot/camera/points", time)
+    self.log_tf_as_transform3d("map/robot/camera/points", time)
 ```
 
 ### LaserScan to `log_line_segments`
@@ -346,7 +347,7 @@ def scan_callback(self, scan: LaserScan) -> None:
     segs = np.hstack([origin, pts]).reshape(pts.shape[0] * 2, 3)
 
     rr.log_line_segments("map/robot/scan", segs, stroke_width=0.005)
-    self.log_tf_as_rigid3("map/robot/scan", time)
+    self.log_tf_as_transform3d("map/robot/scan", time)
 ```
 
 ### URDF to `log_mesh`
@@ -404,7 +405,7 @@ def urdf_callback(self, urdf_msg: String) -> None:
 
 Back in `rerun_urdf.log_scene` all the code is doing is recursively walking through
 the trimesh scene graph. For each node, it extracts the transform to the parent,
-which it logs via `rr.log_rigid3` before then using `rr.log_mesh` to send the vertices,
+which it logs via `rr.log_transform3d` before then using `rr.log_mesh` to send the vertices,
 indices, and normals from the trimesh geometry. This code is almost entirely
 URDF-independent and is a good candidate for a future Python API ([#1536](https://github.com/rerun-io/rerun/issues/1536).)
 ```python
@@ -420,7 +421,10 @@ if node_data:
         # TODO(jleibs): Remove conversion once
         # [#883](https://github.com/rerun-io/rerun/issues/883) is closed
         q = np.array([q[1], q[2], q[3], q[0]])
-        rr.log_rigid3(path, parent_from_child=(t, q), timeless=timeless)
+        rr.log_transform3d(path,
+            rr.TranslationRotationScale3D([t.x, t.y, t.z], rr.Quaternion(xyzw=q), timeless=timeless)
+        )
+
 
     # Log this node's mesh, if it has one.
     mesh = cast(trimesh.Trimesh, scene.geometry.get(node_data[1]))

docs/content/reference/data_types/transform3d.md

@@ -7,7 +7,7 @@ order: 9
 ## Components and APIs
 Primary component: `transform3d`
 
-Python APIs: [log_transform3d](https://ref.rerun.io/docs/python/latest/common/transforms/#rerun.log_transform3d), [log_rigid3](https://ref.rerun.io/docs/python/latest/common/transforms/#rerun.log_rigid3)
+Python APIs: [log_transform3d](https://ref.rerun.io/docs/python/latest/common/transforms/#rerun.log_transform3d)
 
 
 Rust API: [Transform3D](https://docs.rs/rerun/latest/rerun/components/struct.Transform3D.html)

examples/python/ros_node/main.py

@@ -140,7 +140,7 @@ def __init__(self) -> None:
             callback_group=self.callback_group,
         )
 
-    def log_tf_as_rigid3(self, path: str, time: Time) -> None:
+    def log_tf_as_transform3d(self, path: str, time: Time) -> None:
         """
         Helper to look up a transform with tf and log using `log_transform3d`.
 
@@ -189,15 +189,15 @@ def odom_callback(self, odom: Odometry) -> None:
         rr.log_scalar("odometry/ang_vel", odom.twist.twist.angular.z)
 
         # Update the robot pose itself via TF
-        self.log_tf_as_rigid3("map/robot", time)
+        self.log_tf_as_transform3d("map/robot", time)
 
     def image_callback(self, img: Image) -> None:
         """Log an `Image` with `log_image` using `cv_bridge`."""
         time = Time.from_msg(img.header.stamp)
         rr.set_time_nanos("ros_time", time.nanoseconds)
 
         rr.log_image("map/robot/camera/img", self.cv_bridge.imgmsg_to_cv2(img))
-        self.log_tf_as_rigid3("map/robot/camera", time)
+        self.log_tf_as_transform3d("map/robot/camera", time)
 
     def points_callback(self, points: PointCloud2) -> None:
         """Log a `PointCloud2` with `log_points`."""
@@ -223,15 +223,15 @@ def points_callback(self, points: PointCloud2) -> None:
         # Log points once rigidly under robot/camera/points. This is a robot-centric
         # view of the world.
         rr.log_points("map/robot/camera/points", positions=pts, colors=colors)
-        self.log_tf_as_rigid3("map/robot/camera/points", time)
+        self.log_tf_as_transform3d("map/robot/camera/points", time)
 
         # Log points a second time after transforming to the map frame. This is a map-centric
         # view of the world.
         #
         # Once Rerun supports fixed-frame aware transforms [#1522](https://github.com/rerun-io/rerun/issues/1522)
         # this will no longer be necessary.
         rr.log_points("map/points", positions=pts, colors=colors)
-        self.log_tf_as_rigid3("map/points", time)
+        self.log_tf_as_transform3d("map/points", time)
 
     def scan_callback(self, scan: LaserScan) -> None:
         """
@@ -254,7 +254,7 @@ def scan_callback(self, scan: LaserScan) -> None:
         segs = np.hstack([origin, pts]).reshape(pts.shape[0] * 2, 3)
 
         rr.log_line_segments("map/robot/scan", segs, stroke_width=0.005)
-        self.log_tf_as_rigid3("map/robot/scan", time)
+        self.log_tf_as_transform3d("map/robot/scan", time)
 
     def urdf_callback(self, urdf_msg: String) -> None:
         """Log a URDF using `log_scene` from `rerun_urdf`."""

rerun_py/docs/gen_common_index.py

@@ -122,7 +122,7 @@ class Section:
             "log_unknown_transform",
             "log_disconnected_space",
             "log_view_coordinates",
-            "log_rigid3",
+            # "log_rigid3", Intentionally removed from the docs - deprecated since 0.7.
         ],
         class_list=[],
     ),