Add cylinder geometry type to obstacle docs

[Shannon Bradshaw (shannonbradshaw)]

Source changes

• RSDK-13940: Add cylinder geometry rdk#6014: Add cylinder geometry (RSDK-13940) — adds CylinderType = GeometryType("cylinder") to the geometry config system, with r (radius) and l (height) config fields.

Docs changes

• docs/motion-planning/obstacles/overview.md: Updated geometry types table from 5 to 6 types, added Cylinder row with config fields and usage guidance
• docs/motion-planning/obstacles/configure-workspace-obstacles.md: Added "cylinder" to valid type values list in troubleshooting section; added cylinder to the method comparison table
• docs/motion-planning/3d-scene/set-up-obstacle-avoidance.md: Added "cylinders" to the list of geometry types in the opening paragraph
• docs/motion-planning/reference/kinematics.md: Added cylinder to the geometry field description for kinematic links

How I found these

• Xref lookup: config-xref.md → geometry types in motion-planning section
• Grep matches: grep -rn "cylinder|geometry.*type" found 4 files with relevant references to the geometry type enumeration

---

Generated by daily docs change agent

---

Generated by Claude Code

[netlify]

✅ Deploy Preview for viam-docs ready!

Name	Link
🔨 Latest commit	ce29fa9
🔍 Latest deploy log	https://app.netlify.com/projects/viam-docs/deploys/6a42a3988153420007c5634c
😎 Deploy Preview	https://deploy-preview-5062--viam-docs.netlify.app
📱 Preview on mobile	Toggle QR Code... Use your smartphone camera to open QR code link.
Lighthouse	1 paths audited Performance: 36 (🔴 down 7 from production) Accessibility: 99 (🔴 down 1 from production) Best Practices: 100 (no change from production) SEO: 92 (no change from production) PWA: 60 (🔴 down 10 from production) View the detailed breakdown and full score reports

---

To edit notification comments on pull requests, go to your Netlify project configuration.

[viamrobotics-overwatch]

Hey Shannon Bradshaw (@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.

[viamrobotics-overwatch]

Hey Shannon Bradshaw (@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.

[viamrobotics-overwatch]

Hey Shannon Bradshaw (@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.

[viamrobotics-overwatch]

Hey Shannon Bradshaw (@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.

[viamrobotics-overwatch]

Hey Shannon Bradshaw (@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.

[btshrewsbury-viam]

Hold for merge — please don't merge this until the in-flight motion-planning and visualization PRs land first:

• Add motion planning pages: end effector frames, waypoints, pose clouds, plan verification #5098 — Add motion planning pages (end effector frames, waypoints, pose clouds, plan verification)
• Add Visualization section and reframe Debug a motion plan #5099 — Add Visualization section and reframe Debug a motion plan

Both touch the same motion-planning / obstacle pages this PR edits, so merging cylinder first will cause conflicts, and the new pages those PRs add will also need the cylinder geometry type added. Once #5098 and #5099 are in, this PR should be rebased and the cylinder updates extended to the new/changed pages before merge.

Separately, a few additions are still needed here (cylinder is missing from three other config-level geometry lists, and there's an important config-only / mesh-cost caveat to add) — I'll fold those in during the rebase.

[viamrobotics-overwatch]

Hey Shannon Bradshaw (@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.

[btshrewsbury-viam]

Hold lifted. Confirmed this PR's four files are disjoint from the in-progress motion-planning rewrite (docs/motion-planning-pages touches frame-system/ and move-an-arm/ pages; this PR touches obstacles/, 3d-scene/, and reference/kinematics.md), so there's no merge conflict in either order.

Also added the one missing parallel reference: docs/reference/services/frame-system/_index.md geometry Types now includes cylinder, matching the kinematics.md edit.

All cylinder claims verified against rdk#6014 (type: "cylinder", config fields r/l, and the "arbitrarily flat / no minimum height-to-radius ratio" contrast vs. capsule's enforced l >= 2r). Ready to merge.

[github-actions]

🔎💬 Inkeep AI search and chat service is syncing content for source 'Viam Docs'