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‎InterDataEngine-docs/concepts/robots.md‎

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@@ -23,22 +23,22 @@ InternDataEngine supports multiple robot platforms for manipulation tasks. Each
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<summary>FR3 (Single-arm, Franka Panda Gripper)</summary>
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<p align="center">
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<a href="../public/franka/ee_head_vis.png" target="_blank">
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<img src="../public/franka/ee_head_vis.png" alt="FR3 EE Head" style="width: 100%; cursor: zoom-in;">
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<a href="/franka/ee_head_vis.png" target="_blank">
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<img src="/franka/ee_head_vis.png" alt="FR3 EE Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>FR3 end-effector head frame visualization</em></p>
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<p align="center">
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<a href="../public/franka/tcp_head_vis.png" target="_blank">
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<img src="../public/franka/tcp_head_vis.png" alt="FR3 TCP Head" style="width: 100%; cursor: zoom-in;">
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<a href="/franka/tcp_head_vis.png" target="_blank">
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<img src="/franka/tcp_head_vis.png" alt="FR3 TCP Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>FR3 TCP (Tool Center Point) head frame visualization</em></p>
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<p align="center">
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<a href="../public/franka/tcp_hand_vis.png" target="_blank">
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<img src="../public/franka/tcp_hand_vis.png" alt="FR3 TCP Hand" style="width: 100%; cursor: zoom-in;">
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<a href="/franka/tcp_hand_vis.png" target="_blank">
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<img src="/franka/tcp_hand_vis.png" alt="FR3 TCP Hand" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>FR3 TCP hand frame visualization</em></p>
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<summary>Franka Robotiq85 (Single-arm, Robotiq 2F-85 Gripper)</summary>
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<p align="center">
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<a href="../public/frankarobotiq/ee_head_vis.png" target="_blank">
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<img src="../public/frankarobotiq/ee_head_vis.png" alt="Franka Robotiq85 EE Head" style="width: 100%; cursor: zoom-in;">
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<a href="/frankarobotiq/ee_head_vis.png" target="_blank">
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<img src="/frankarobotiq/ee_head_vis.png" alt="Franka Robotiq85 EE Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Franka Robotiq85 end-effector head frame visualization</em></p>
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<p align="center">
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<a href="../public/frankarobotiq/tcp_head_vis.png" target="_blank">
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<img src="../public/frankarobotiq/tcp_head_vis.png" alt="Franka Robotiq85 TCP Head" style="width: 100%; cursor: zoom-in;">
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<a href="/frankarobotiq/tcp_head_vis.png" target="_blank">
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<img src="/frankarobotiq/tcp_head_vis.png" alt="Franka Robotiq85 TCP Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Franka Robotiq85 TCP (Tool Center Point) head frame visualization</em></p>
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<p align="center">
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<a href="../public/frankarobotiq/tcp_hand_vis.png" target="_blank">
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<img src="../public/frankarobotiq/tcp_hand_vis.png" alt="Franka Robotiq85 TCP Hand" style="width: 100%; cursor: zoom-in;">
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<a href="/frankarobotiq/tcp_hand_vis.png" target="_blank">
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<img src="/frankarobotiq/tcp_hand_vis.png" alt="Franka Robotiq85 TCP Hand" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Franka Robotiq85 TCP hand frame visualization</em></p>
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<summary>Genie-1 (Dual-arm, G1-120s)</summary>
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<p align="center">
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<a href="../public/genie1/leftee_head_left_vis.png" target="_blank">
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<img src="../public/genie1/leftee_head_left_vis.png" alt="Genie-1 Left EE Head" style="width: 100%; cursor: zoom-in;">
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<a href="/genie1/leftee_head_left_vis.png" target="_blank">
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<img src="/genie1/leftee_head_left_vis.png" alt="Genie-1 Left EE Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Genie-1 left arm end-effector head frame visualization</em></p>
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<p align="center">
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<a href="../public/genie1/lefttcp_head_vis.png" target="_blank">
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<img src="../public/genie1/lefttcp_head_vis.png" alt="Genie-1 Left TCP Head" style="width: 100%; cursor: zoom-in;">
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<a href="/genie1/lefttcp_head_vis.png" target="_blank">
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<img src="/genie1/lefttcp_head_vis.png" alt="Genie-1 Left TCP Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Genie-1 left arm TCP head frame visualization</em></p>
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<p align="center">
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<a href="../public/genie1/lefttcp_hand_left_vis.png" target="_blank">
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<img src="../public/genie1/lefttcp_hand_left_vis.png" alt="Genie-1 Left TCP Hand" style="width: 100%; cursor: zoom-in;">
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<a href="/genie1/lefttcp_hand_left_vis.png" target="_blank">
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<img src="/genie1/lefttcp_hand_left_vis.png" alt="Genie-1 Left TCP Hand" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Genie-1 left arm TCP hand frame visualization</em></p>
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<p align="center">
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<a href="../public/genie1/rightee_head_vis.png" target="_blank">
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<img src="../public/genie1/rightee_head_vis.png" alt="Genie-1 Right EE Head" style="width: 100%; cursor: zoom-in;">
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<a href="/genie1/rightee_head_vis.png" target="_blank">
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<img src="/genie1/rightee_head_vis.png" alt="Genie-1 Right EE Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Genie-1 right arm end-effector head frame visualization</em></p>
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<p align="center">
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<a href="../public/genie1/righttcp_head_vis.png" target="_blank">
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<img src="../public/genie1/righttcp_head_vis.png" alt="Genie-1 Right TCP Head" style="width: 100%; cursor: zoom-in;">
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<a href="/genie1/righttcp_head_vis.png" target="_blank">
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<img src="/genie1/righttcp_head_vis.png" alt="Genie-1 Right TCP Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Genie-1 right arm TCP head frame visualization</em></p>
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<p align="center">
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<a href="../public/genie1/righttcp_hand_right_vis.png" target="_blank">
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<img src="../public/genie1/righttcp_hand_right_vis.png" alt="Genie-1 Right TCP Hand" style="width: 100%; cursor: zoom-in;">
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<a href="/genie1/righttcp_hand_right_vis.png" target="_blank">
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<img src="/genie1/righttcp_hand_right_vis.png" alt="Genie-1 Right TCP Hand" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Genie-1 right arm TCP hand frame visualization</em></p>
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<summary>ARX Lift-2 (Dual-arm, R5a)</summary>
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<p align="center">
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<a href="../public/lift2/leftee_head_left_vis.jpeg" target="_blank">
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<img src="../public/lift2/leftee_head_left_vis.jpeg" alt="Lift-2 Left EE Head" style="width: 100%; cursor: zoom-in;">
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<a href="/lift2/leftee_head_left_vis.jpeg" target="_blank">
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<img src="/lift2/leftee_head_left_vis.jpeg" alt="Lift-2 Left EE Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Lift-2 left arm end-effector head frame visualization</em></p>
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<p align="center">
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<a href="../public/lift2/lefttcp_head_vis.jpeg" target="_blank">
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<img src="../public/lift2/lefttcp_head_vis.jpeg" alt="Lift-2 Left TCP Head" style="width: 100%; cursor: zoom-in;">
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<a href="/lift2/lefttcp_head_vis.jpeg" target="_blank">
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<img src="/lift2/lefttcp_head_vis.jpeg" alt="Lift-2 Left TCP Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Lift-2 left arm TCP head frame visualization</em></p>
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<p align="center">
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<a href="../public/lift2/lefttcp_hand_left_vis.jpeg" target="_blank">
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<img src="../public/lift2/lefttcp_hand_left_vis.jpeg" alt="Lift-2 Left TCP Hand" style="width: 100%; cursor: zoom-in;">
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<a href="/lift2/lefttcp_hand_left_vis.jpeg" target="_blank">
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<img src="/lift2/lefttcp_hand_left_vis.jpeg" alt="Lift-2 Left TCP Hand" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Lift-2 left arm TCP hand frame visualization</em></p>
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<p align="center">
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<a href="../public/lift2/rightee_head_vis.jpeg" target="_blank">
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<img src="../public/lift2/rightee_head_vis.jpeg" alt="Lift-2 Right EE Head" style="width: 100%; cursor: zoom-in;">
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<a href="/lift2/rightee_head_vis.jpeg" target="_blank">
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<img src="/lift2/rightee_head_vis.jpeg" alt="Lift-2 Right EE Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Lift-2 right arm end-effector head frame visualization</em></p>
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<p align="center">
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<a href="../public/lift2/righttcp_head_vis.jpeg" target="_blank">
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<img src="../public/lift2/righttcp_head_vis.jpeg" alt="Lift-2 Right TCP Head" style="width: 100%; cursor: zoom-in;">
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<a href="/lift2/righttcp_head_vis.jpeg" target="_blank">
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<img src="/lift2/righttcp_head_vis.jpeg" alt="Lift-2 Right TCP Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Lift-2 right arm TCP head frame visualization</em></p>
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<p align="center">
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<a href="../public/lift2/righttcp_hand_right_vis.jpeg" target="_blank">
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<img src="../public/lift2/righttcp_hand_right_vis.jpeg" alt="Lift-2 Right TCP Hand" style="width: 100%; cursor: zoom-in;">
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<a href="/lift2/righttcp_hand_right_vis.jpeg" target="_blank">
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<img src="/lift2/righttcp_hand_right_vis.jpeg" alt="Lift-2 Right TCP Hand" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Lift-2 right arm TCP hand frame visualization</em></p>
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<summary>Agilex Split Aloha (Dual-arm, Piper-100)</summary>
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<p align="center">
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<a href="../public/split_aloha/rightee_head_vis.png" target="_blank">
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<img src="../public/split_aloha/rightee_head_vis.png" alt="Split Aloha Right EE Head" style="width: 100%; cursor: zoom-in;">
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<a href="/split_aloha/rightee_head_vis.png" target="_blank">
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<img src="/split_aloha/rightee_head_vis.png" alt="Split Aloha Right EE Head" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Split Aloha right arm end-effector head frame visualization</em></p>
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<p align="center">
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<a href="../public/split_aloha/righttcp_head_vis.png" target="_blank">
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<img src="../public/split_aloha/righttcp_head_vis.png" alt="Split Aloha Right TCP Head" style="width: 100%; cursor: zoom-in;">
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<a href="/split_aloha/righttcp_head_vis.png" target="_blank">
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<img src="/split_aloha/righttcp_head_vis.png" alt="Split Aloha Right TCP Head" style="width: 100%; cursor: zoom-in;">
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</a>
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<p align="center"><em>Split Aloha right arm TCP head frame visualization</em></p>
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<p align="center">
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<a href="../public/split_aloha/righttcp_hand_right_vis.png" target="_blank">
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<img src="../public/split_aloha/righttcp_hand_right_vis.png" alt="Split Aloha Right TCP Hand" style="width: 100%; cursor: zoom-in;">
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<a href="/split_aloha/righttcp_hand_right_vis.png" target="_blank">
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<img src="/split_aloha/righttcp_hand_right_vis.png" alt="Split Aloha Right TCP Hand" style="width: 100%; cursor: zoom-in;">
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<p align="center"><em>Split Aloha right arm TCP hand frame visualization</em></p>
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A 3×3 rotation matrix that transforms the grasp pose orientation from the pre-defined graspnet frame to the robot's end-effector frame. Our generated grasp pose follows the frame definition from GraspNet.
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<p align="center">
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<a href="../public/graspnet_def.png" target="_blank">
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<img src="../public/graspnet_def.png" alt="GraspNet Gripper Frame Definition" style="width: 400px; cursor: zoom-in;">
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<a href="/graspnet_def.png" target="_blank">
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<img src="/graspnet_def.png" alt="GraspNet Gripper Frame Definition" style="width: 400px; cursor: zoom-in;">
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</a>
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<p align="center"><em>GraspNet gripper frame definition (source: graspnetAPI)</em></p>
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- **`tool_side`**: A point on the side of the right fingertip, used to indicate the gripper width.
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<p align="center">
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<a href="../public/gripper_kps.jpg" target="_blank">
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<img src="../public/gripper_kps.jpg" alt="Gripper Keypoints Visualization" style="width: 100%; cursor: zoom-in;">
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<a href="/gripper_kps.jpg" target="_blank">
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<img src="/gripper_kps.jpg" alt="Gripper Keypoints Visualization" style="width: 100%; cursor: zoom-in;">
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</a>
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<p align="center"><em>Gripper keypoints visualization showing tool_head, tool_tail, and tool_side</em></p>

‎InterDataEngine-docs/concepts/workflows.md‎

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The framework of the engine is shown in the figure:
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![Engine Architecture Chart](../../public/nimbus_archi.png)
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![Engine Architecture Chart](/nimbus_archi.png)
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Above the optimization layer, the engine provides designs related to the Stage Runner Layer and the Components Layer.
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‎InterDataEngine-docs/custom/assets.md‎

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You can perform these adjustments in **MeshLab**:
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<p align="center">
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<a href="../public/meshlab_setorigin.jpg" target="_blank">
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<img src="../public/meshlab_setorigin.jpg" alt="Set Origin in MeshLab" style="width: 100%; cursor: zoom-in;">
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<a href="/meshlab_setorigin.jpg" target="_blank">
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<img src="/meshlab_setorigin.jpg" alt="Set Origin in MeshLab" style="width: 100%; cursor: zoom-in;">
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</a>
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<p align="center"><em>Setting the origin point at the object center in MeshLab</em></p>
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<p align="center">
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<a href="../public/meshlab_set_scale.jpg" target="_blank">
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<img src="../public/meshlab_set_scale.jpg" alt="Set Scale in MeshLab" style="width: 100%; cursor: zoom-in;">
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<a href="/meshlab_set_scale.jpg" target="_blank">
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<img src="/meshlab_set_scale.jpg" alt="Set Scale in MeshLab" style="width: 100%; cursor: zoom-in;">
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<p align="center"><em>Setting the correct scale (units) for the object</em></p>
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<p align="center">
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<a href="../public/meshlab_set_rotation.jpg" target="_blank">
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<img src="../public/meshlab_set_rotation.jpg" alt="Set Rotation in MeshLab" style="width: 100%; cursor: zoom-in;">
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<a href="/meshlab_set_rotation.jpg" target="_blank">
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<img src="/meshlab_set_rotation.jpg" alt="Set Rotation in MeshLab" style="width: 100%; cursor: zoom-in;">
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<p align="center"><em>Rotating the object to align with canonical pose</em></p>
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This converts the OBJ to USD format and saves it as `Aligned_obj.usd` in the same directory.
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<a href="../public/obj2usd.jpg" target="_blank">
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<img src="../public/obj2usd.jpg" alt="OBJ to USD Conversion" style="width: 100%; cursor: zoom-in;">
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<a href="/obj2usd.jpg" target="_blank">
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<img src="/obj2usd.jpg" alt="OBJ to USD Conversion" style="width: 100%; cursor: zoom-in;">
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<p align="center"><em>Converting OBJ to USD format</em></p>
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<a href="../public/usd_add_rigid.jpg" target="_blank">
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<img src="../public/usd_add_rigid.jpg" alt="Add Rigid Body Properties" style="width: 100%; cursor: zoom-in;">
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<a href="/usd_add_rigid.jpg" target="_blank">
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<img src="/usd_add_rigid.jpg" alt="Add Rigid Body Properties" style="width: 100%; cursor: zoom-in;">
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<p align="center"><em>Adding rigid body physics properties (mass) to the USD</em></p>
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The collider uses convex decomposition to tightly wrap the object for accurate collision detection.
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<p align="center">
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<a href="../public/usd_add_collider.jpg" target="_blank">
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<img src="../public/usd_add_collider.jpg" alt="Add Collider Properties" style="width: 100%; cursor: zoom-in;">
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<a href="/usd_add_collider.jpg" target="_blank">
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<img src="/usd_add_collider.jpg" alt="Add Collider Properties" style="width: 100%; cursor: zoom-in;">
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<p align="center"><em>Adding collision mesh and friction properties</em></p>
@@ -147,8 +147,8 @@ python gen_sparse_label.py --obj_path /path/to/Aligned_obj.obj --unit m
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For detailed instructions, refer to the [README.md](https://github.com/InternRobotics/InternDataEngine/blob/master/workflows/simbox/tools/grasp/README.md) in the grasp tools directory.
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<p align="center">
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<a href="../public/grasp_banana.jpg" target="_blank">
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<img src="../public/grasp_banana.jpg" alt="Grasp Pose Visualization" style="width: 100%; cursor: zoom-in;">
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<a href="/grasp_banana.jpg" target="_blank">
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<img src="/grasp_banana.jpg" alt="Grasp Pose Visualization" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
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<p align="center"><em>Visualization of generated grasp poses on a banana object</em></p>
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The initial hierarchy structure should look like this:
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<p align="center">
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<a href="../public/pre_rehier.jpg" target="_blank">
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<img src="../public/pre_rehier.jpg" alt="Initial USD Hierarchy" style="width: 100%; cursor: zoom-in;">
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<a href="/pre_rehier.jpg" target="_blank">
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<img src="/pre_rehier.jpg" alt="Initial USD Hierarchy" style="width: 100%; cursor: zoom-in;">
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This step reorganizes the asset hierarchy to a unified standard. After rehier, the structure should look like:
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<a href="../public/after_rehier.jpg" target="_blank">
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<img src="../public/after_rehier.jpg" alt="Rehiered USD Hierarchy" style="width: 100%; cursor: zoom-in;">
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<a href="/after_rehier.jpg" target="_blank">
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<img src="/after_rehier.jpg" alt="Rehiered USD Hierarchy" style="width: 100%; cursor: zoom-in;">
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<p align="center"><em>Restructured USD hierarchy - instance prim inserted between original asset and root as articulation root</em></p>

‎InterDataEngine-docs/custom/robot.md‎

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Figure Examples:
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<p align="center">
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<a href="../public/ee_genie1.jpg" target="_blank">
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<img src="../public/ee_genie1.jpg" alt="Genie-1 EE Path" style="width: 100%; cursor: zoom-in;">
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<a href="/ee_genie1.jpg" target="_blank">
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<img src="/ee_genie1.jpg" alt="Genie-1 EE Path" style="width: 100%; cursor: zoom-in;">
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<p align="center"><em>Genie-1: EE link is the last gripper link (fixed EE-to-TCP transform)</em></p>
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<a href="../public/ee_lift2.jpg" target="_blank">
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<img src="../public/ee_lift2.jpg" alt="Lift-2 EE Path" style="width: 100%; cursor: zoom-in;">
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<a href="/ee_lift2.jpg" target="_blank">
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<img src="/ee_lift2.jpg" alt="Lift-2 EE Path" style="width: 100%; cursor: zoom-in;">
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</a>
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</p>
175175
<p align="center"><em>Lift-2: EE link is a gripper link (fixed EE-to-TCP transform)</em></p>
176176

177177
<p align="center">
178-
<a href="../public/ee_robotiq.jpg" target="_blank">
179-
<img src="../public/ee_robotiq.jpg" alt="Robotiq EE Path" style="width: 100%; cursor: zoom-in;">
178+
<a href="/ee_robotiq.jpg" target="_blank">
179+
<img src="/ee_robotiq.jpg" alt="Robotiq EE Path" style="width: 100%; cursor: zoom-in;">
180180
</a>
181181
</p>
182182
<p align="center"><em>Robotiq: EE link is the last gripper link (fixed EE-to-TCP transform)</em></p>
183183

184184
<p align="center">
185-
<a href="../public/ee_panda.jpg" target="_blank">
186-
<img src="../public/ee_panda.jpg" alt="Panda EE Path" style="width: 100%; cursor: zoom-in;">
185+
<a href="/ee_panda.jpg" target="_blank">
186+
<img src="/ee_panda.jpg" alt="Panda EE Path" style="width: 100%; cursor: zoom-in;">
187187
</a>
188188
</p>
189189
<p align="center"><em>Panda: EE link is a gripper link (fixed EE-to-TCP transform)</em></p>

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