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ai4ce · Oct 18, 2024 · a8bece5 · a8bece5
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diff --git a/instructions/3d_printing.md b/instructions/3d_printing.md
@@ -4,28 +4,28 @@
 - The `.stl` for printing the Stanford Bunny can be found at `/assets/3d_printing/object/stanford_bunny.stl`.
 - The print file can be found at `/assets/3d_printing/object/stanford_bunny.form`.
 - The printing is done on a Formlabs Form 3 SLA 3D printer. The materials used are: 
-    - Transparent bunny: Clear Resin V4
-    - Black Bunny: Black Resin V4
-    - Reflective Bunny: Tough 2000 V1 + Generic reflective paint from Amazon
+    - Transparent bunny: Clear Resin V4
+    - Black Bunny: Black Resin V4
+    - Reflective Bunny: Tough 2000 V1 + Generic reflective paint from Amazon
 - Some tips for printing:
-    1. Try to align the supports at the bottom of the bunny, which tends to be invisible during experiments and won't be touched. Supports will leave some artifacts (bumps) on the surface.
-    2. Avoid using the cure station for the transparent bunny, because curing will cause the clear resin to become yellowish.
-    3. For the same reason, we did not cure the black and reflective bunnies as we want maximum comparability among them. Instead, we use a fan to blow on the three bunnies for 24 hours.
+    1. Try to align the supports at the bottom of the bunny, which tends to be invisible during experiments and won't be touched. Supports will leave some artifacts (bumps) on the surface.
+    2. Avoid using the cure station for the transparent bunny, because curing will cause the clear resin to become yellowish.
+    3. For the same reason, we did not cure the black and reflective bunnies as we want maximum comparability among them. Instead, we use a fan to blow on the three bunnies for 24 hours.
 
 ## Camera and Tactile Sensor Mount
 - The `.stl` files for the mount that connects the sensor/camera to the robot are located at:
-    - `/assets/3d_printing/sensor_mount/xArm6_Interface_V2.STL`
-    - `/assets/3d_printing/sensor_mount/xArm6_Sensor_Mount_V2.STL`
+    - `/assets/3d_printing/sensor_mount/xArm6_Interface_V2.STL`
+    - `/assets/3d_printing/sensor_mount/xArm6_Sensor_Mount_V2.STL`
 - The design source files from Solidworks are also in the same folder
 - The interface is to connect to the robot EEF flange, while the mount will carry the camera and the sensor. The mount will be inserted at the top of the interface.
 - The assembly file, which puts the models of mount, interface, sensor, and camera together, can be found in the `/assets/3d_printing/sensor_mount/assembly` folder.
-    - This can be used for visualization in RViz or collision avoidance. For collision avoidance, I recommend downsampling the assembly stl to reduce the face number. There is a sample in the provided xArm ROS2 package
+    - This can be used for visualization in RViz or collision avoidance. For collision avoidance, I recommend downsampling the assembly stl to reduce the face number. There is a sample in the provided xArm ROS2 package
 - Two M2 screws to connect the GelSight Mini tactile sensor. Two M3 screws to connect the Intel RealSense D405 camera.
 - **Important:** The dimension of the mount is measured in Solidworks and put to the configuration file in the [RealSense interface package](https://github.com/ai4ce/realsense_ROS2_interface) and the [GelSight tactile sensor interface package](https://github.com/ai4ce/gelsight_ROS2_interface) so that we can accurately acquire the pose of camera and the sensor in the world coordinate by adding offsets to the EEF's coordinate.
-    - Therefore, if you modify the parts' dimensions, please update the configuration in the ROS2 packages accordingly. Specifically, the `realsense_ROS2_interface/realsense_capture/config/calibration.yaml` and `gelsight_ROS2_interface/gelsight_capture/config/gsmini.yaml`.
+    - Therefore, if you modify the parts' dimensions, please update the configuration in the ROS2 packages accordingly. Specifically, the `realsense_ROS2_interface/realsense_capture/config/calibration.yaml` and `gelsight_ROS2_interface/gelsight_capture/config/gsmini.yaml`.
 
 ## Object Mounting Platform
 - The `.stl` file for the mounting platform that connects the object to the tripod can be found at:
-    - `/assets/3d_printing/tripod_mount/Tripod_Plate_180MM_V2.STL`
-    - `/assets/3d_printing/tripod_mount/Tripod_Plate_180MM_V2_LID.STL`
+    - `/assets/3d_printing/tripod_mount/Tripod_Plate_180MM_V2.STL`
+    - `/assets/3d_printing/tripod_mount/Tripod_Plate_180MM_V2_LID.STL`
 - The `Tripod_Plate_180MM_V2.STL` can be inserted into the groove of the Arca-Swiss plate as we mentioned in the Appendix of the Arxiv paper. The `LID` then connects to the former so the object can be fastened on this platform.
diff --git a/instructions/install_robotics.md b/instructions/install_robotics.md
@@ -2,19 +2,21 @@
 
 ## ROS 2
 1. Install ROS2 Humble according to the [official instruction](https://docs.ros.org/en/humble/Installation.html). 
-    - Note that while this project is developed under Humble, we do not explicitly use any Humble-specific feature, so other distro should work in principle.
+
+    - Note that while this project is developed under Humble, we do not explicitly use any Humble-specific feature, so other distro should work in principle.
 
 ## RealSense D405 Depth Camera
 2. Install the [RealSense depth camera interface package](https://github.com/ai4ce/realsense_ROS2_interface). This is a custom ROS2 package built upon Intel's official ROS2 wrapper.
 
 ## GelSight Mini Tactile Sensor
 3. Install the [GelSight tactile sensor interface package](https://github.com/ai4ce/gelsight_ROS2_interface). 
-    - **Unfortunately**, this package is built upon a codebase that has not been open-source. We will update the link within a few weeks when the dependency is fully open. Stay tuned!
-    - Note that this is not the same as the official GelSight implementation. We made some tweaks and (hopefully) improvements, so you are strongly encouraged to use our own package.
+    - **Unfortunately**, this package is built upon a codebase that has not been open-source. We will update the link within a few weeks when the dependency is fully open. Stay tuned!
+
+    - Note that this is not the same as the official GelSight implementation. We made some tweaks and (hopefully) improvements, so you are strongly encouraged to use our own package.
 
 **Note:** See [3D Printing Instructions](3d_printing.md) for some caveats on the dimension of the camera/sensor mount and the world-frame coordinates of the camera and the tactile sensor.
 
 ## Robot Servoing and Teleoperation.
 4. Install the [Ufactory xArm6 servoing and teleoperation package](https://github.com/ai4ce/xarm_ros2). This is a custom ROS2 package built upon the official UFactory ROS2 packages.
-    - We also have a [UR10e equivalent](https://github.com/ai4ce/ur_ros2) available. 
-    - If you are using a different robot, while we may not have a ROS2 package readily available, as long as your robot works with MoveIt 2, you should be able to adapt my code fairly easily.
+    - We also have a [UR10e equivalent](https://github.com/ai4ce/ur_ros2) available. 
+    - If you are using a different robot, while we may not have a ROS2 package readily available, as long as your robot works with MoveIt 2, you should be able to adapt my code fairly easily.