Django Mermaid Viewer

Mermaid Code

graph TD
 %% --- STYLE DEFINITIONS ---
 classDef hardware fill:#ffcccc,stroke:#b30000,stroke-width:2px,color:black;
 classDef simTool fill:#cce5ff,stroke:#004080,stroke-width:2px,color:black;
 classDef aiProcess fill:#ffffcc,stroke:#999900,stroke-width:2px,color:black;
 classDef dataArtifact fill:#e0ccff,stroke:#4b0082,stroke-width:2px,color:black;
 
 %% --- MAIN PIPELINE ---
 
 %% PHASE 1: SETUP
 subgraph P1 [PHASE 1: Real-to-Sim Calibration]
 direction TB
 RealEnv(Real Lab Environment):::hardware
 RealRobot(Physical Robot):::hardware
 
 RealEnv -->|1. Video Scan| Cosmos["NVIDIA COSMOS (World Model Generator)"]:::simTool
 RealRobot -->|2. Joint Logs| SysID["System ID Process (Tune Friction/Damping)"]:::aiProcess
 
 Cosmos -->|Output: USD Assets| SimScene(Isaac Lab Scene):::simTool
 SysID -->|Output: Tuned Params| SimTwin(Digital Twin Robot):::simTool
 end
 
 %% PHASE 2: LOOP
 subgraph P2 [PHASE 2: Teleop & Training Loop]
 direction TB
 Quest3(Meta Quest 3):::hardware
 
 SimScene --- CombinedSim["FULL SIMULATION ENV (Isaac Lab + PhysX)"]:::simTool
 SimTwin --- CombinedSim
 
 Quest3 -.->|3. Teleoperate VR with tactile feedback| CombinedSim
 
 Quest3 -.->|3. Teleoperate VR with tactile feedback| SysID
 CombinedSim -->|4. Record 50 Demos| SeedData(Seed Trajectories):::dataArtifact
 
 SeedData --> MimicGen["Domain Randomization (Replay x10,000 times)"]:::aiProcess
 
 MimicGen -->|Output: Massive Data| BigData(Synthetic Dataset):::dataArtifact
 
 BigData --> Train["Train Diffusion Policy (Imitation Learning / RL)"]:::aiProcess
 end
 
 %% PHASE 3: DEPLOY
 subgraph P3 [PHASE 3: Zero-Shot Transfer]
 Train -->|5. Export Model| Policy(Final AI Policy):::dataArtifact
 end
 
 %% --- LEGEND ---
 subgraph LegendKey [LEGEND ]
 L1(Physical Hardware):::hardware
 L2(Simulation Software Isaac Lab / Cosmos):::simTool
 L3(AI Calculation Training / Generating):::aiProcess
 L4(Data Files Logs / Models):::dataArtifact
 L1~~~L2~~~L3~~~L4
 
 end
 
 
 
 %% Style P1 (Red Tint)
 style P1 fill:#fff5f5,stroke:#b30000,stroke-width:2px,stroke-dasharray: 5 5
 
 %% Style P2 (Blue Tint)
 style P2 fill:#f0f8ff,stroke:#004080,stroke-width:2px,stroke-dasharray: 5 5
 
 %% Style P3 (Green Tint)
 style P3 fill:#f0fff0,stroke:#006600,stroke-width:2px,stroke-dasharray: 5 5
 
 %% Style Legend (Grey)
 style LegendKey fill:#f9f9f9,stroke:#333,stroke-width:1px