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Add atomic action gifs to docs #310

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Merged
yuecideng merged 3 commits into from
Jun 17, 2026
Merged

Add atomic action gifs to docs #310

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a9474b3
docs(sim): add atomic action GIF overview
XuanchaoPENG Jun 17, 2026
eff19c5
docs(sim): restore atomic action table layout
XuanchaoPENG Jun 17, 2026
7ba0f03
Compress atomic action GIFs
XuanchaoPENG Jun 17, 2026
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Binary file added docs/source/_static/atomic_actions/move.gif
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10 changes: 5 additions & 5 deletions docs/source/overview/sim/atomic_actions.md
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Expand Up @@ -63,11 +63,11 @@ AtomicActionEngine ◄─────────────── PlanResult

The following actions are available out of the box:

| Action | Config class | Target type | Motion phases |
|---|---|---|---|
| `MoveAction` | `MoveActionCfg` | `Tensor (4,4)` — EEF pose | Move arm to pose |
| `PickUpAction` | `PickUpActionCfg` | `ObjectSemantics` or `Tensor (4,4)` | Approach → close gripper → lift |
| `PlaceAction` | `PlaceActionCfg` | `Tensor (4,4)` — EEF release pose | Lower → open gripper → retract |
| Atomic action | Single arm / dual arm | Target type| Motion phases | GIF |
|---|---|---|---|---|
| `MoveAction` | Single arm | `Tensor (4,4)` — EEF pose | Approach → close gripper → lift | <img src="../../_static/atomic_actions/move.gif" alt="PickUpAction recording" width="240" /> |
| `PickUpAction` | Single arm | `ObjectSemantics` or `Tensor (4,4)` | Move arm to pose | <img src="../../_static/atomic_actions/pick.gif" alt="PickUpAction recording" width="240" /> |
| `PlaceAction` | Single arm | `Tensor (4,4)` — EEF release pose | Lower → open gripper → retract | <img src="../../_static/atomic_actions/place.gif" alt="PickUpAction recording" width="240" /> |

### `MoveAction`

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