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docs: restructure Isaac Sim pages in the simulation reference - #36
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Give the simulation reference a reading order: environment prep, robot and USD assets, the FaSim ROS 2 Control and swerve plugins, scene and project layout, then run and debug. Merge the USD submodule catalog into the robot_usds page and drop 4-usd_submodules without a stub. Document the Kit extensions and hardware keys from the current FaSim main, and point the beginner path and how-to at those sections instead of restating the mechanisms.
Day 2 now launches with `ros2 launch ocs2_arm_controller full_body.launch.py robot:=arx_lift2s` as written, without a hardware argument. Adjacent notes and the expected result name ARX Lift 2S and full_body, not Acone or demo.launch.py. Day 3 is unchanged.
Embed the Day 1 RViz single-arm clip as the post-launch effect, not as a full startup recording or an Isaac physics run. Keep the ARX Lift 2S full_body command on Day 2, and add FiveAges W2 with `ros2 launch ocs2_arm_controller full_body.launch.py robot:=fiveages_w2 type:=xhand1` plus a W2 with xhand1 operation demo. One copy of each video lives under _static/videos; both language builds use the same relative path.
Move fa-py-libraries and Viser to Day 3 so readers can open the browser view before Isaac Sim (now Day 4, the default simulation path). Keep Gazebo as a documented alternative. Add the G1-D full-body and chassis clip on the Isaac How-To, and start the Day 5 teleop path with VR or a game controller, then briefly cover isomorphic teleop, DexCap, VR gesture recognition (no documented launch entry), Wuji gloves, the foot pedal assist, and Vive Tracker.
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What this does
Restructures every Isaac Sim–related page in the simulation reference, and trims how-to / beginner pages so they no longer retell the full mechanism.
Suggested reading order:
./init.sh/./run.sh, both Kit extensions).main.Page roles
4-reference/simulation/0-index.md: reading order and toctree (no4-usd_submodules).2-fasim_isaac.md: concept + reference for hardware keys, Kit extensions, ROS 2 Control, swerve, clock, TF, navigation, and workspace layout.3-robot_usds.md: robot USD trees and the submodule visibility table (Gen1/Gen2 public, Gen3 private; no WCE3).5-env_assets.md: fiveages_env, fa-project-usd (main vs feature branch), ArtVIP, LabUtopia. Path kept; slug4is not reused.2-how_to/2-simulation/4-isaac_sim.md: operational how-to; points at specific reference sections.4-usd_submodules.mdand its.poare deleted with no redirect stub. Remaining cross-references, the toctree, and gettext catalogs were updated.Verification
Checked against FaSim-Isaac
main(3606dc89, 2026-11-13), not monthly-log status. This is a documentation CI/build check only — it does not mean Isaac runtime was verified.Local docs checks (all passed):
sphinx-build -W --keep-goingEnglish HTMLsphinx-build -W --keep-going -D language=zh_CNChinese HTMLscripts/check_zh_coverage.py --threshold 95→ 100.0%scripts/check_zh_mix.py --html-root build/html/zh_CN --require-html→ 0 findingsscripts/check_html_fences.py,check_nested_admonition_fences.py,check_language_switcher.pyPlease review before merging.