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Add LiDAR specification in AI Worker and unit control table in OMY. #95

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3ef2a36
Add LiDAR spec in AI Worker Hardware spec
Eunsung-kespion Apr 16, 2026
55281d9
Add OMY unit control table
Eunsung-kespion Apr 16, 2026
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22 changes: 15 additions & 7 deletions docs/.vitepress/config.mts
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,8 @@ export default defineConfig({
{
text: 'Quick Start Guide',
items: [
{ text: 'Setup Overview', link: '/ai_worker/setup_guide_ai_worker',
{
text: 'Setup Overview', link: '/ai_worker/setup_guide_ai_worker',
items: [
{ text: 'Hardware', link: '/ai_worker/setup_guide_hardware_ai_worker' },
{ text: 'Software', link: '/ai_worker/setup_guide_software_ai_worker' },
Expand Down Expand Up @@ -122,15 +123,15 @@ export default defineConfig({
text: 'Model Training', link: '/ai_worker/model_training_ai_worker',
},
{
text: 'Model Inference', link:'/ai_worker/model_inference_ai_worker',
text: 'Model Inference', link: '/ai_worker/model_inference_ai_worker',
},
{ text: 'Data Tools', link: '/ai_worker/data_tools_ai_worker' },
]
},
{
text: 'Simulation',
items: [
{ text: 'Overview', link: '/ai_worker/simulation_ai_worker'},
{ text: 'Overview', link: '/ai_worker/simulation_ai_worker' },
{ text: 'Gazebo', link: '/ai_worker/gazebo_ai_worker' },
{ text: 'Isaac Sim/Lab', link: '/ai_worker/robotis_lab_ai_worker' }
]
Expand Down Expand Up @@ -174,7 +175,14 @@ export default defineConfig({
{
text: 'Specifications',
items: [
{ text: 'Hardware', link: '/omy/hardware_omy' },
{
text: 'Hardware',
link: '/omy/hardware_omy',
collapsed: false,
items: [
{ text: 'Control Table', link: '/omy/control_table_omy_unit' }
]
},
{ text: 'Software', link: '/omy/software_omy' }
]
},
Expand All @@ -201,15 +209,15 @@ export default defineConfig({
text: 'Model Training', link: '/omy/model_training_omy',
},
{
text: 'Model Inference', link:'/omy/model_inference_omy',
text: 'Model Inference', link: '/omy/model_inference_omy',
},
{ text: 'Data Tools', link: '/omy/data_tools_omy' },
]
},
{
text: 'Simulation',
items: [
{ text: 'Overview', link: '/omy/simulation_omy'},
{ text: 'Overview', link: '/omy/simulation_omy' },
{ text: 'Gazebo', link: '/omy/gazebo_omy' },
{ text: 'Isaac Sim/Lab', link: '/omy/robotis_lab_omy' }
]
Expand Down Expand Up @@ -299,7 +307,7 @@ export default defineConfig({
{
text: 'Simulation',
items: [
{ text: 'Overview', link: '/omx/simulation_omx'},
{ text: 'Overview', link: '/omx/simulation_omx' },
{ text: 'Gazebo', link: '/omx/gazebo_omx' },
]
},
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20 changes: 20 additions & 0 deletions docs/ai_worker/hardware_ai_worker.md
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Expand Up @@ -125,6 +125,26 @@ Two Intel RealSense D405 cameras are integrated into the robot's hands/grippers,
| Depth Range | 7cm to 50cm (2.7inch to 19.6inch) |
| More Information | [Intel RealSense D405 Details](https://www.intelrealsense.com/depth-camera-d405/) |

## LiDAR Specification

The AI Worker uses dual 2D ToF LiDAR sensors for robust long-range environment scanning and obstacle detection.

### LiDAR: LakiBeam 1 (x2)

Two LakiBeam 1 units are mounted on the platform to provide wide horizontal coverage and reliable perception in industrial environments.

| Feature | Specification |
|-------------------|----------------------------------------------------|
| Model Name | LakiBeam 1 |
| Type | 2D Single-line Pulsed ToF LiDAR |
| Key Use | Long-range environment perception, mapping, obstacle detection |
| Horizontal FOV | 270° |
| Detection Range | up to 25m (>=25m @ 90% reflectivity, >=15m @ 10% reflectivity) |
| Angle Resolution | 0.1° @ 10Hz / 0.25° @ 20/25/30Hz |
| Accuracy | ±2cm |
| Interface | Ethernet UDP / USB (RJ45, Type-C) |
| More Information | [LakiBeam 1 Details](https://www.richbeam.com/product/LakiBeam) |

## Gripper Specification
![model_rh_p12_rn](/specifications/ai_worker/model_rh_p12_rn.png)
The [RH-P12-RN](https://emanual.robotis.com/docs/en/platform/rh_p12_rn/) is a multi-functional, 1-DOF two-fingered robot hand. It features an adaptive gripping design with passive joints, allowing it to grasp objects of various shapes. The hand utilizes a 10W DC motor and offers torque control and current-based position control, enabling it to handle objects made of different materials. Key features of the RH-P12-RN include its lightweight design (500g) and high payload capacity (5kg). It also has detachable fingertips that can be easily replaced with customized ones. The RH-P12-RN is designed for easy integration with the AI Worker platform, making it suitable for various applications in industrial environments.
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