Add technical story omx

[csharon0218]

Overview
This PR adds an OMX Technical Story documenting real-time end-effector trajectory control using Jacobian-based IK with Damped Least Squares.

New Documentation Content:

• Introduced a new OMX Technical Story page
• Explained system architecture and closed-loop execution of drawing_shape_omx
• Covered URDF-based kinematics, trajectory generation, and IK stability
• Included simulation demos for circle, rectangle, and heart-shaped trajectories

[gemini-code-assist]

Summary of Changes

Hello @csharon0218, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request introduces a comprehensive technical story for the OMX project, focusing on how real-time end-effector trajectory control is achieved. It explains the underlying kinematic principles and the system architecture of the traj_pub_node, which uses Jacobian-based IK with Damped Least Squares for stable trajectory tracking in simulation. The new content provides detailed insights into the implementation and usage of this control mechanism.

Highlights

• New Documentation Page: A new 'Technical Story' page has been added to the OMX documentation, accessible via the 'Resources' section in the navigation.
• Real-Time Trajectory Control: The new documentation details real-time end-effector trajectory control for robotic manipulators using a ROS2 node called traj_pub_node.
• Kinematics and Stability: The story explains the use of URDF-based kinematics, Jacobian-based Inverse Kinematics (IK) with Damped Least Squares for stability, and the system's closed-loop execution.
• Simulation Demos: It includes descriptions and demonstrations of the manipulator drawing various shapes (circle, rectangle, heart) in simulation.

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Changelog

• docs/.vitepress/config.mts
  • Added a new navigation link for 'Technical Story' under the 'Resources' section.
• docs/omx/technical_story_omx.md
  • Added a new markdown file containing the detailed technical story.
  • Includes sections on Overview, Kinematic Background (FK vs IK, Jacobian-based IK with Damped Least Squares), System Architecture and Execution Flow, How to Run instructions, and Runtime Parameters for interactive mode.
  • Features embedded video demonstrations and conceptual illustrations.

Activity

• No human activity (comments, reviews, etc.) has been recorded for this pull request yet.

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[gemini-code-assist]

Code Review

This pull request adds a new technical story for OMX, which is a great addition to the documentation. The new page provides a detailed overview of real-time end-effector trajectory control. I've reviewed the changes and have a few suggestions to improve the clarity and maintainability of the new markdown file. My feedback includes correcting a video title, refactoring inline CSS for better maintainability, and completing a parameter table for better readability. Overall, this is a valuable contribution.

[kimtaehyeong99]

GOOD!

[sunghowoo]

LGTM!