WIP

docs/content/concepts/spaces-and-transforms.md

@@ -34,7 +34,7 @@ Consider the following scenario:
 ```python
 rr.log_points("world/mapped_keypoints", ...)
 rr.log_points("world/robot/observed_features", ...)
-rr.log_rigid3("world/robot", ...)
+rr.log_transform3d("world/robot", ...)
 ```
 
 There are 4 parent/child entity relationships represented in this hierarchy.
@@ -44,9 +44,9 @@ There are 4 parent/child entity relationships represented in this hierarchy.
 - `world` -> `world/robot`
 - `world/robot` -> `world/robot/observed_features`
 
-The call: `rr.log_rigid3("world/robot", ...)` only applies to the relationship: `world` -> `world/robot` because the
-logged transform (`world/robot`) describes the relationship between the entity and its _parent_ (`world`). All of the
-other relationships are considered to be an identity transform.
+The call: `rr.log_transform3d("world/robot", ...)` only applies to the relationship: `world` -> `world/robot` because the
+logged transform (`world/robot`) describes the relationship between the entity and its _parent_ (`world`). All other 
+relationships are considered to be an identity transform.
 
 This leaves us with two spaces. In one space, we have the entities `world`, and `world/mapped_keypoints`. In the other
 space we have the entities `world/robot` and `world/robot/observed_features`.