docs: convert parameter tables to list format with param-type spans

Author: Leon998

InterDataEngine-docs/concepts/cameras.md

@@ -79,14 +79,12 @@ cx, cy = principal point (pixels)
 
 ### Sensor Settings
 
-| Parameter | Description | Typical Value |
-|-----------|-------------|---------------|
-| `resolution_width` | Image width in pixels | 640 - 1920 |
-| `resolution_height` | Image height in pixels | 480 - 1080 |
-| `pixel_size` | Physical pixel size (μm) | 1.4 - 3.0 |
-| `f_number` | Lens aperture | 1.8 - 4.0 |
-| `focus_distance` | Focus distance (m) | 0.3 - 1.0 |
-| `frequency` | Capture frequency (Hz) | 15 - 60 |
+- **resolution_width** (<span class="param-type">int</span>): Image width in pixels. Typical value: 640 - 1920.
+- **resolution_height** (<span class="param-type">int</span>): Image height in pixels. Typical value: 480 - 1080.
+- **pixel_size** (<span class="param-type">float</span>): Physical pixel size (μm). Typical value: 1.4 - 3.0.
+- **f_number** (<span class="param-type">float</span>): Lens aperture. Typical value: 1.8 - 4.0.
+- **focus_distance** (<span class="param-type">float</span>): Focus distance (m). Typical value: 0.3 - 1.0.
+- **frequency** (<span class="param-type">int</span>): Capture frequency (Hz). Typical value: 15 - 60.
 
 ## Camera Mounting
 
@@ -125,11 +123,9 @@ cameras:
 
 `CustomCamera.get_observations()` returns:
 
-| Output | Shape | Description |
-|--------|-------|-------------|
-| `color_image` | H×W×3 | RGB image (float32) |
-| `camera2env_pose` | 4×4 | Camera to environment transform |
-| `camera_params` | 3×3 | Intrinsic matrix K |
+- **color_image** (<span class="param-type">ndarray</span>): RGB image with shape H×W×3 (float32).
+- **camera2env_pose** (<span class="param-type">ndarray</span>): Camera to environment transform matrix with shape 4×4.
+- **camera_params** (<span class="param-type">ndarray</span>): Intrinsic matrix K with shape 3×3.
 
 ## Key Files
 

InterDataEngine-docs/concepts/robots.md

@@ -289,12 +289,10 @@ lift_home: [0.46]                          # Lift joint default position (meters
 
 ### Task-Level Fields
 
-| Field | Description |
-|-------|-------------|
-| `name` | Robot identifier used in skills and cameras |
-| `robot_config_file` | Path to robot-specific YAML configuration file |
-| `euler` | Initial robot orientation in degrees [roll, pitch, yaw] |
-| `ignore_substring` | Collision filter substrings to ignore during simulation |
+- **name** (<span class="param-type">str</span>): Robot identifier used in skills and cameras.
+- **robot_config_file** (<span class="param-type">str</span>): Path to robot-specific YAML configuration file.
+- **euler** (<span class="param-type">list</span>): Initial robot orientation in degrees [roll, pitch, yaw].
+- **ignore_substring** (<span class="param-type">list</span>): Collision filter substrings to ignore during simulation.
 
 ### Robot-Specific Fields
 
@@ -437,34 +435,32 @@ fl_gripper_keypoints:
 
 ### Other Fields
 
-| Field | Description |
-|-------|-------------|
-| `target_class` | Python class for robot wrapper (e.g., `Lift2`, `FR3`) |
-| `path` | USD file path relative to asset root |
-| `robot_file` | CuRobo kinematics config file(s) - one per arm |
-| `gripper_max_width` | Maximum gripper opening width (meters) |
-| `gripper_min_width` | Minimum gripper closing width (meters) |
-| `solver_position_iteration_count` | Physics solver position iterations |
-| `solver_velocity_iteration_count` | Physics solver velocity iterations |
-| `stabilization_threshold` | Physics stabilization threshold |
-| `left_joint_indices` | Joint indices for left arm in articulation |
-| `right_joint_indices` | Joint indices for right arm in articulation |
-| `left_gripper_indices` | Gripper joint index for left arm |
-| `right_gripper_indices` | Gripper joint index for right arm |
-| `lift_indices` | Lift joint indices (for robots with lift mechanism) |
-| `fl_base_path` | Left arm base prim path |
-| `fr_base_path` | Right arm base prim path |
-| `fl_filter_paths` | Collision filter prims' paths for left arm |
-| `fr_filter_paths` | Collision filter prims' paths for right arm |
-| `fl_forbid_collision_paths` | Forbidden collision prims' paths for left arm |
-| `fr_forbid_collision_paths` | Forbidden collision prims' paths for right arm |
-| `left_joint_home` | Default joint positions for left arm (radians) |
-| `right_joint_home` | Default joint positions for right arm (radians) |
-| `left_joint_home_std` | Standard deviation for randomizing left arm home position |
-| `right_joint_home_std` | Standard deviation for randomizing right arm home position |
-| `left_gripper_home` | Default gripper joint value for left gripper (Isaac) |
-| `right_gripper_home` | Default gripper joint value for right gripper (Isaac) |
-| `lift_home` | Default lift joint position (meters) |
+- **target_class** (<span class="param-type">str</span>): Python class for robot wrapper (e.g., `Lift2`, `FR3`).
+- **path** (<span class="param-type">str</span>): USD file path relative to asset root.
+- **robot_file** (<span class="param-type">list</span>): CuRobo kinematics config file(s) - one per arm.
+- **gripper_max_width** (<span class="param-type">float</span>): Maximum gripper opening width (meters).
+- **gripper_min_width** (<span class="param-type">float</span>): Minimum gripper closing width (meters).
+- **solver_position_iteration_count** (<span class="param-type">int</span>): Physics solver position iterations.
+- **solver_velocity_iteration_count** (<span class="param-type">int</span>): Physics solver velocity iterations.
+- **stabilization_threshold** (<span class="param-type">float</span>): Physics stabilization threshold.
+- **left_joint_indices** (<span class="param-type">list</span>): Joint indices for left arm in articulation.
+- **right_joint_indices** (<span class="param-type">list</span>): Joint indices for right arm in articulation.
+- **left_gripper_indices** (<span class="param-type">list</span>): Gripper joint index for left arm.
+- **right_gripper_indices** (<span class="param-type">list</span>): Gripper joint index for right arm.
+- **lift_indices** (<span class="param-type">list</span>): Lift joint indices (for robots with lift mechanism).
+- **fl_base_path** (<span class="param-type">str</span>): Left arm base prim path.
+- **fr_base_path** (<span class="param-type">str</span>): Right arm base prim path.
+- **fl_filter_paths** (<span class="param-type">list</span>): Collision filter prims' paths for left arm.
+- **fr_filter_paths** (<span class="param-type">list</span>): Collision filter prims' paths for right arm.
+- **fl_forbid_collision_paths** (<span class="param-type">list</span>): Forbidden collision prims' paths for left arm.
+- **fr_forbid_collision_paths** (<span class="param-type">list</span>): Forbidden collision prims' paths for right arm.
+- **left_joint_home** (<span class="param-type">list</span>): Default joint positions for left arm (radians).
+- **right_joint_home** (<span class="param-type">list</span>): Default joint positions for right arm (radians).
+- **left_joint_home_std** (<span class="param-type">list</span>): Standard deviation for randomizing left arm home position.
+- **right_joint_home_std** (<span class="param-type">list</span>): Standard deviation for randomizing right arm home position.
+- **left_gripper_home** (<span class="param-type">list</span>): Default gripper joint value for left gripper (Isaac).
+- **right_gripper_home** (<span class="param-type">list</span>): Default gripper joint value for right gripper (Isaac).
+- **lift_home** (<span class="param-type">list</span>): Default lift joint position (meters).
 
 
 ## Robot Wrappers

InterDataEngine-docs/concepts/skills/articulation.md

@@ -12,16 +12,16 @@ Articulation skills operate objects with joints, such as doors, drawers, microwa
 ```text
 workflows/simbox/core/skills/
 ├── artpreplan.py   # Pre-plan for long-horizon tasks
-├── open.py         # Open articulated objects
-├── close.py        # Close articulated objects
+├── open.py         # Open or pull articulated objects
+├── close.py        # Close or push articulated objects
 └── rotate.py       # Rotate knobs / handles
 ```
 
 | Skill | Description | Use Cases |
 |-------|-------------|-----------|
 | `artpreplan` | Pre-plan / fake-plan for long-horizon tasks | Search for reasonable layouts before actual execution |
-| `open` | Open articulated objects | Microwave doors, cabinet doors, laptop screens, drawers |
-| `close` | Close articulated objects | Push microwaves closed, fold laptops, push drawers |
+| `open` | Open or pull articulated objects | Microwave doors, cabinet doors, laptop screens, drawers |
+| `close` | Close or push articulated objects | Push microwaves closed, fold laptops, push drawers |
 | `rotate` | Rotate knobs or handles | Twist oven knobs, turn handles |
 
 ### Skill Roles
@@ -283,11 +283,9 @@ Before defining constraints, keypoints must be annotated on both the robot gripp
 
 Defined in robot YAML under `fl_gripper_keypoints` / `fr_gripper_keypoints` (see [Robots](/concepts/robots/)):
 
-| Keypoint | Description |
-|----------|-------------|
-| `tool_head` | TCP position (fingertip center) |
-| `tool_tail` | Gripper base position |
-| `tool_side` | Side fingertip position |
+- **tool_head** (<span class="param-type">list</span>): TCP position (fingertip center).
+- **tool_tail** (<span class="param-type">list</span>): Gripper base position.
+- **tool_side** (<span class="param-type">list</span>): Side fingertip position.
 
 ![Gripper Keypoints](/gripper_kps.jpg)
 
@@ -397,15 +395,13 @@ This is used when the target axis is already known (e.g., the pulling direction
 
 ## Configuration Reference
 
-| Parameter | Type | Default | Description |
-|-----------|------|---------|-------------|
-| `objects` | `list` | required | `[articulated_object_name]` |
-| `obj_info_path` | `string` | `None` | Path to articulation info YAML |
-| `planner_setting.contact_pose_index` | `int` | required | Keyframe index where gripper contacts object |
-| `planner_setting.success_threshold` | `float` | required | Joint displacement threshold for success |
-| `planner_setting.update_art_joint` | `bool` | `False` | Update articulation joint targets on success |
-| `planner_setting.constraint_list` | `list` | required | List of constraint definitions |
-| `ignore_substring` | `list` | `[]` | Collision filter substrings |
+- **objects** (<span class="param-type">list</span>, default: required): `[articulated_object_name]`.
+- **obj_info_path** (<span class="param-type">string</span>, default: `None`): Path to articulation info YAML.
+- **planner_setting.contact_pose_index** (<span class="param-type">int</span>, default: required): Keyframe index where gripper contacts object.
+- **planner_setting.success_threshold** (<span class="param-type">float</span>, default: required): Joint displacement threshold for success.
+- **planner_setting.update_art_joint** (<span class="param-type">bool</span>, default: `False`): Update articulation joint targets on success.
+- **planner_setting.constraint_list** (<span class="param-type">list</span>, default: required): List of constraint definitions.
+- **ignore_substring** (<span class="param-type">list</span>, default: `[]`): Collision filter substrings.
 
 
 ## References

InterDataEngine-docs/concepts/skills/overview.md

@@ -19,21 +19,21 @@ workflows/simbox/core/skills/
 ├── Pick-and-Place Skills
 │   ├── pick.py             # Standard pick operation
 │   ├── place.py            # Standard place operation
-│   ├── dexpick.py          # Dex-style pick with approach
+│   ├── dexpick.py          # Dex-style pick with constraints
 │   ├── dexplace.py         # Dex-style place with constraints
 │   ├── manualpick.py       # Manual grasp pose specification
 │   ├── dynamicpick.py      # Dynamic grasp selection
 │   └── failpick.py         # Failure case pick
 │
 ├── Articulation-Related Skills
-│   ├── open.py             # Open gripper/articulation
-│   ├── close.py            # Close gripper/articulation
+│   ├── open.py             # Open or pull articulation
+│   ├── close.py            # Close or push articulation
 │   ├── rotate.py           # Rotate articulation joint
 │   └── artpreplan.py       # Articulation pre-planning
 │
 ├── Heuristic Skills
 │   ├── goto_pose.py        # Move to target pose
-│   ├── gripper_action.py   # Generic gripper action
+│   ├── gripper_action.py   # Generic gripper action (Open, Close)
 │   ├── heuristic_skill.py  # Configurable heuristic actions
 │   ├── joint_ctrl.py       # Joint-level control
 │   └── wait.py             # Wait for duration
@@ -44,7 +44,7 @@ workflows/simbox/core/skills/
     ├── approach_rotate.py  # Approach with rotation
     ├── flip.py             # Flip object
     ├── scan.py             # Scan motion
-    └── pour_water_succ.py  # Pouring action
+    └── pour_water_succ.py  # Pouring metric
 ```
 
 ## Skill Template
@@ -105,12 +105,10 @@ manip_list = [
 
 **Command tuple structure:**
 
-| Component | Type | Description |
-|-----------|------|-------------|
-| `p_base_ee_tgt` | `np.ndarray (3,)` | Target end-effector position in arm base frame |
-| `q_base_ee_tgt` | `np.ndarray (4,)` | Target end-effector quaternion `(w, x, y, z)` |
-| `function_name` | `str` | Action function to execute |
-| `params` | `dict` | Parameters for the action function |
+- **p_base_ee_tgt** (<span class="param-type">np.ndarray</span>): Target end-effector position in arm base frame, shape `(3,)`.
+- **q_base_ee_tgt** (<span class="param-type">np.ndarray</span>): Target end-effector quaternion `(w, x, y, z)` in arm base frame, shape `(4,)`.
+- **function_name** (<span class="param-type">str</span>): Action function to execute.
+- **params** (<span class="param-type">dict</span>): Parameters for the action function.
 
 **Common action functions:**