ROBOTIS-GIT · sungjinjung2806 · Aug 21, 2026 · Aug 21, 2026 · Aug 21, 2026 · Aug 21, 2026
diff --git a/docusaurus/docs/systems/omy/resources/technical_story/graspnet_pick_and_place.mdx b/docusaurus/docs/systems/omy/resources/technical_story/graspnet_pick_and_place.mdx
diff --git a/docusaurus/docs/systems/omy/resources/technical_story/technical_story.mdx b/docusaurus/docs/systems/omy/resources/technical_story/technical_story.mdx
@@ -18,3 +18,6 @@ Let's dive into the technical stories behind OMY.
 - [Running Next-Generation Policies on OMY with LeRobot](./vla_lerobotnative) — how the LeRobot native
   environment and the ROS 2 Zenoh bridge run GR00T N1.7, MolmoAct2, VLA-JEPA and FastWAM on the OMY-F3M,
   and what it took to make one of them complete the task.
+- [Pick-and-Place on OMY with GraspNet and Gemini](./graspnet_pick_and_place) — how GraspNet-baseline
+  point cloud grasp inference, combined with Gemini for object classification and free-text target
+  grasping, drives OMY's pick-and-place.
diff --git a/docusaurus/sidebars/omy.ts b/docusaurus/sidebars/omy.ts
@@ -128,6 +128,7 @@ const omySidebar: SidebarsConfig[string] = [
         link: {type: 'doc', id: 'systems/omy/resources/technical_story/technical_story'},
         items: [
           {type: 'doc', id: 'systems/omy/resources/technical_story/vla_lerobotnative', label: 'LeRobot Policies'},
+          {type: 'doc', id: 'systems/omy/resources/technical_story/graspnet_pick_and_place', label: 'GraspNet'},
         ],
       },
     ],

diff --git a/docusaurus/src/data/koUnsupportedDocRoutes.json b/docusaurus/src/data/koUnsupportedDocRoutes.json
@@ -490,6 +490,9 @@
   "/docs/systems/omy/resources/legacy/physical_ai_tools/model_training",
   "/docs/systems/omy/resources/open_source",
   "/docs/systems/omy/resources/release_notes",
+  "/docs/systems/omy/resources/technical_story",
+  "/docs/systems/omy/resources/technical_story/graspnet_pick_and_place",
+  "/docs/systems/omy/resources/technical_story/vla_lerobotnative",
   "/docs/systems/omy/simulation",
   "/docs/systems/omy/simulation/gazebo",
   "/docs/systems/omy/simulation/isaac_sim_lab",

diff --git a/.../systems/omy/resources/technical_story/graspnet_pick_and_place/architecture.png b/.../systems/omy/resources/technical_story/graspnet_pick_and_place/architecture.png
diff --git a/.../img/systems/omy/resources/technical_story/graspnet_pick_and_place/basic_3d.png b/.../img/systems/omy/resources/technical_story/graspnet_pick_and_place/basic_3d.png
diff --git a/...mg/systems/omy/resources/technical_story/graspnet_pick_and_place/basic_rviz.png b/...mg/systems/omy/resources/technical_story/graspnet_pick_and_place/basic_rviz.png
diff --git a/.../systems/omy/resources/technical_story/graspnet_pick_and_place/classify_gui.png b/.../systems/omy/resources/technical_story/graspnet_pick_and_place/classify_gui.png
diff --git a/...systems/omy/resources/technical_story/graspnet_pick_and_place/classify_rviz.png b/...systems/omy/resources/technical_story/graspnet_pick_and_place/classify_rviz.png
diff --git a/...mg/systems/omy/resources/technical_story/graspnet_pick_and_place/full_cycle.gif b/...mg/systems/omy/resources/technical_story/graspnet_pick_and_place/full_cycle.gif
diff --git a/...g/systems/omy/resources/technical_story/graspnet_pick_and_place/sorting_gui.png b/...g/systems/omy/resources/technical_story/graspnet_pick_and_place/sorting_gui.png
diff --git a/...mg/systems/omy/resources/technical_story/graspnet_pick_and_place/target_gui.png b/...mg/systems/omy/resources/technical_story/graspnet_pick_and_place/target_gui.png
diff --git a/...ems/omy/resources/technical_story/graspnet_pick_and_place/target_tennis_gui.png b/...ems/omy/resources/technical_story/graspnet_pick_and_place/target_tennis_gui.png
diff --git a/...ms/omy/resources/technical_story/graspnet_pick_and_place/target_tennis_rviz.png b/...ms/omy/resources/technical_story/graspnet_pick_and_place/target_tennis_rviz.png