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legubiao merged 4 commits into from
Nov 13, 2026
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docs: restructure Isaac Sim pages in the simulation reference #36

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33a61f9
docs: restructure Isaac Sim pages in the simulation reference
legubiao Nov 13, 2026
c839a9e
docs: use Lift 2S full_body launch as the Day 2 switch-robot command
legubiao Nov 13, 2026
bef27fc
docs: add Day 1 single-arm clip and Day 2 W2 with xhand1
legubiao Nov 13, 2026
dea229e
docs: put Viser before Isaac and expand beginner teleop
legubiao Nov 13, 2026
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8 changes: 4 additions & 4 deletions locale/zh_CN/LC_MESSAGES/0-overview/0-index.po
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Expand Up @@ -54,11 +54,11 @@ msgstr "**MPC 控制器** — 基于 OCS2 的运动规划与控制（分体控

#: ../../source/0-overview/0-index.md:12 640100088d3542f6a27e14beafd4843e
msgid ""
"**Simulation** — Gazebo Harmonic, and **FaSim** (Isaac Sim high-fidelity "
"+ the same ROS 2 运控 as the real robot, plus simulation ground truth)"
"**Simulation** — **FaSim** (Isaac Sim high-fidelity + the same ROS 2 运控 "
"as the real robot, plus simulation ground truth) is the default physics "
"path; Gazebo Harmonic remains available"
msgstr ""
"**仿真** — Gazebo Harmonic，以及 **FaSim**（Isaac Sim 高保真 + 与真机同一套 ROS 2 "
"运控，外加仿真真值）"
"**仿真** — **FaSim**（Isaac Sim 高保真 + 与真机同一套 ROS 2 运控，外加仿真真值）是默认的物理仿真路径；Gazebo Harmonic 仍可使用"

#: ../../source/0-overview/0-index.md:13 185ca09b5bc44adbaba950ea42e24909
msgid "**Teleoperation** — VR, isomorphic teleop, and glove-based control"
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2,206 changes: 1,396 additions & 810 deletions locale/zh_CN/LC_MESSAGES/0-overview/2-learning_path.po
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23 changes: 15 additions & 8 deletions locale/zh_CN/LC_MESSAGES/1-getting_started/1-quick_demo_public.po
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Expand Up @@ -335,15 +335,22 @@ msgstr "[切换到其他机器人](../2-how_to/1-basic_operations/2-switch_robot

#: ../../source/1-getting_started/1-quick_demo_public.md:111
#: 95217015a6cb4dd1ae73d67a726295a4
msgid "[Run Gazebo simulation](../2-how_to/2-simulation/3-gazebo_sim.md)"
msgstr "[运行 Gazebo 仿真](../2-how_to/2-simulation/3-gazebo_sim.md)"

#: ../../source/1-getting_started/1-quick_demo_public.md:112
#: a355f0e537e54d8aa0cce9b5dfc81dcc
msgid ""
"[Connect Python "
"interface](../2-how_to/3-programming/5-python_interface.md)"
msgstr "[接入 Python 接口](../2-how_to/3-programming/5-python_interface.md)"
"[Start Viser](../2-how_to/3-programming/5-python_interface.md#start-"
"viser) — browser view and control"
msgstr "[启动 Viser](../2-how_to/3-programming/5-python_interface.md#start-viser) — 浏览器查看与控制"

#: ../../source/1-getting_started/1-quick_demo_public.md
msgid "[Isaac Sim](../2-how_to/2-simulation/4-isaac_sim.md) — the default physics path"
msgstr "[Isaac Sim](../2-how_to/2-simulation/4-isaac_sim.md) — 默认的物理仿真路径"

#: ../../source/1-getting_started/1-quick_demo_public.md
msgid "[Gazebo Simulation](../2-how_to/2-simulation/3-gazebo_sim.md) — alternative backend"
msgstr "[Gazebo 仿真](../2-how_to/2-simulation/3-gazebo_sim.md) — 备选后端"

#: ../../source/1-getting_started/1-quick_demo_public.md
msgid "[Python Interface](../2-how_to/3-programming/5-python_interface.md)"
msgstr "[Python 接口](../2-how_to/3-programming/5-python_interface.md)"

#: ../../source/1-getting_started/1-quick_demo_public.md:114
#: 242caab21948416cbc6a3b42556ec44b
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10 changes: 9 additions & 1 deletion locale/zh_CN/LC_MESSAGES/1-getting_started/3-open_deploy_ws.po
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Expand Up @@ -1400,7 +1400,15 @@ msgstr ""

#: ../../source/1-getting_started/3-open_deploy_ws.md:330
#: 82b229315a20468d93531d3dc44ea1ee
msgid "[Gazebo simulation](../2-how_to/2-simulation/3-gazebo_sim.md)"
msgid "[Start Viser](../2-how_to/3-programming/5-python_interface.md#start-viser)"
msgstr "[启动 Viser](../2-how_to/3-programming/5-python_interface.md#start-viser)"

#: ../../source/1-getting_started/3-open_deploy_ws.md
msgid "[Isaac Sim](../2-how_to/2-simulation/4-isaac_sim.md)"
msgstr "[Isaac Sim](../2-how_to/2-simulation/4-isaac_sim.md)"

#: ../../source/1-getting_started/3-open_deploy_ws.md
msgid "[Gazebo Simulation](../2-how_to/2-simulation/3-gazebo_sim.md)"
msgstr "[Gazebo 仿真](../2-how_to/2-simulation/3-gazebo_sim.md)"

#~ msgid ""
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14 changes: 8 additions & 6 deletions locale/zh_CN/LC_MESSAGES/2-how_to/0-index.po
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Expand Up @@ -59,13 +59,15 @@ msgstr "仿真"

#: ../../source/2-how_to/0-index.md:14 d735c5d1a2504ac48ec6c4aa610d0a5e
msgid ""
"[Gazebo Simulation](2-simulation/3-gazebo_sim.md) — Physics simulation "
"with Gazebo"
msgstr "[Gazebo 仿真](2-simulation/3-gazebo_sim.md) — 使用 Gazebo 进行物理仿真"
"[Isaac Sim](2-simulation/4-isaac_sim.md) — NVIDIA Isaac Sim (FaSim); the "
"default physics path"
msgstr "[Isaac Sim](2-simulation/4-isaac_sim.md) — NVIDIA Isaac Sim（FaSim）；默认的物理仿真路径"

#: ../../source/2-how_to/0-index.md:15 99951ce2853e40f182fc9d3923759e16
msgid "[Isaac Sim](2-simulation/4-isaac_sim.md) — NVIDIA Isaac Sim integration"
msgstr "[Isaac Sim](2-simulation/4-isaac_sim.md) — NVIDIA Isaac Sim 集成"
#: ../../source/2-how_to/0-index.md
msgid ""
"[Gazebo Simulation](2-simulation/3-gazebo_sim.md) — Gazebo as an "
"alternative backend"
msgstr "[Gazebo 仿真](2-simulation/3-gazebo_sim.md) — Gazebo 作为备选后端"

#: ../../source/2-how_to/0-index.md:17 75ca2fa7b18044c396d3fdc388108c21
msgid "Programming"
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41 changes: 24 additions & 17 deletions locale/zh_CN/LC_MESSAGES/2-how_to/2-simulation/0-index.po
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Expand Up @@ -4,12 +4,11 @@
# package.
# FIRST AUTHOR <EMAIL@ADDRESS>, 2026.
#
#, fuzzy
msgid ""
msgstr ""
"Project-Id-Version: FiveAges Sim \n"
"Report-Msgid-Bugs-To: \n"
"POT-Creation-Date: 2026-10-09 12:40+0000\n"
"POT-Creation-Date: 2026-11-13 19:29+0800\n"
"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
"Language: zh_CN\n"
Expand All @@ -21,32 +20,40 @@ msgstr ""
"Generated-By: Babel 2.18.0\n"

#: ../../source/2-how_to/2-simulation/0-index.md:1
#: b6e74f58986c4fee9dc15910581ecc9b
#: c876f2d9a13349308822311ae70e70a3
msgid "Simulation"
msgstr "仿真"

#: ../../source/2-how_to/2-simulation/0-index.md:3
#: 47eccbca145b4a5394c46a3b147a1224
msgid "Physics simulation with Gazebo or NVIDIA Isaac Sim."
msgstr "使用 Gazebo 或 NVIDIA Isaac Sim 进行物理仿真。"
#: da4035665a1d43b7a5ee55926bf58060
msgid ""
"The default physics simulation path is NVIDIA Isaac Sim (FaSim). Start "
"Isaac and run the first checks: [Isaac Sim](4-isaac_sim.md). To view and "
"control the robot in a browser while Sim is running, start Viser first: "
"[Start Viser](../3-programming/5-python_interface.md#start-viser). "
"Mechanisms, extensions, and USD layout: [Simulation "
"reference](../../4-reference/simulation/0-index.md)."
msgstr "默认的物理仿真路径是 NVIDIA Isaac Sim（FaSim）。启动 Isaac 并做第一次检查：[Isaac Sim](4-isaac_sim.md)。仿真运行时若要在浏览器里查看并控制机器人，先启动 Viser：[启动 Viser](../3-programming/5-python_interface.md#start-viser)。机制、扩展和 USD 布局：[仿真参考](../../4-reference/simulation/0-index.md)。"

#: ../../source/2-how_to/2-simulation/0-index.md:5
#: 96052c13b8354b6d88f6d045d9f8aa11
#: 927de6ea948546c3be2bcbee41c8b594
msgid ""
"`hardware:=mock_components` / `gz` / `isaac` are launch keys, not vendor "
"hardware-interface packages under `hardwares/`. Plugin table: "
"[ros2_control in This Stack](../../3-concepts/1-ros2_control_here.md). "
"Isaac topic `<param>` names: "
"hardware-interface packages under `hardwares/`. `isaac_sim` is set inside"
" Isaac on the in-process path; it is not a `demo.launch.py` flag. Plugin "
"table: [ros2_control in This "
"Stack](../../3-concepts/1-ros2_control_here.md). Isaac topic `<param>` "
"names: "
"[topic_based_ros2_control](../../4-reference/hardware/1-topic_based.md)."
msgstr ""
"`hardware:=mock_components` / `gz` / `isaac` 是 launch 键，不是 `hardwares/` "
"下的厂商驱动层包。插件表：[本栈中的 "
"ros2_control](../../3-concepts/1-ros2_control_here.md)。Isaac 话题 `<param>`"
" "
"名：[topic_based_ros2_control](../../4-reference/hardware/1-topic_based.md)。"
msgstr "`hardware:=mock_components` / `gz` / `isaac` 是 launch 键，不是 `hardwares/` 下的厂商驱动层包。`isaac_sim` 是在进程内路径上、由 Isaac 内部设置的，不是 `demo.launch.py` 的参数。插件表：[本栈中的 ros2_control](../../3-concepts/1-ros2_control_here.md)。Isaac 话题 `<param>` 名称：[topic_based_ros2_control](../../4-reference/hardware/1-topic_based.md)。"

#: ../../source/2-how_to/2-simulation/0-index.md:7
#: 511e3ddd3a0a4ed5b61000a814dd38d0
#: 88a4e2c74efa4cbe9361882830e5b712
msgid "Gazebo remains available as an alternative backend: [Gazebo Simulation](3-gazebo_sim.md)."
msgstr "Gazebo 仍可作为备选后端使用：[Gazebo 仿真](3-gazebo_sim.md)。"

#: ../../source/2-how_to/2-simulation/0-index.md:9
#: 3dc5a6e05fa5443c85a698909f61b61a
msgid ""
"Isaac USD → composer → LeRobot datagen is the [Synthetic "
"Data](../7-synthetic_data/0-index.md) How-To category, not Gazebo."
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