diff --git a/locale/zh_CN/LC_MESSAGES/0-overview/2-learning_path.po b/locale/zh_CN/LC_MESSAGES/0-overview/2-learning_path.po index 2d4ea65..ab2147e 100644 --- a/locale/zh_CN/LC_MESSAGES/0-overview/2-learning_path.po +++ b/locale/zh_CN/LC_MESSAGES/0-overview/2-learning_path.po @@ -1627,6 +1627,77 @@ msgstr "" "能在浏览器里打开，Isaac Sim 已安装，`ISAACSIM_DIR` 已设置，并且已经跑过 FaSim 的 `./init.sh` 和 " "`./run.sh`。" + +#: ../../source/0-overview/2-learning_path.md:89 +#: d138244bcd754d9aa7c3ae7c18d8b62b +msgid "" +"This clip shows operating the ARX Lift 2S (方舟无限 Lift 2S, a dual-arm mobile" +" manipulator) in RViz: drag the left and right end-effector interactive " +"markers, then use the right-click menu to send the end-effector pose; both" +" arms follow the targets. The clip has no terminal or launch commands." +msgstr "" +"这段视频是在 RViz 中操作方舟无限 Lift " +"2S（双臂移动操作臂）：拖动左右臂末端交互标记，再用右键菜单发送末端位置，双臂跟随目标。视频里没有终端和启动命令。" + +#: ../../source/0-overview/2-learning_path.md:153 +#: ea68f9803dc64d3385c302966562df00 +msgid "" +"Start Viser the way you did on Day 3, after the Isaac / ROS 2 stack is up," +" so you can view and control the robot in the browser: [Start " +"Viser](../2-how_to/3-programming/5-python_interface.md#start-viser)." +msgstr "" +"Isaac / ROS 2 运控起来之后，按第 3 天的方式启动 Viser，就可以在浏览器里查看和控制机器人：[启动 " +"Viser](../2-how_to/3-programming/5-python_interface.md#start-viser)。" + +#: ../../source/0-overview/2-learning_path.md:155 +#: f61bd675ac664568a44750b66d7ea79a +msgid "" +"This clip is a G1-D demonstration of full-body control in Isaac Sim. On " +"the Viser web control interface, drag the dual-arm end-effector targets " +"and move the chassis in rotation and translation; G1-D in Isaac Sim moves " +"with it. Start Viser as in [Start " +"Viser](../2-how_to/3-programming/5-python_interface.md#start-viser) after " +"the stack is up." +msgstr "" +"这段视频是 G1-D 在 Isaac Sim 中做全身控制的演示。在 Viser 网页控制界面上拖动双臂末端目标，并控制底盘旋转和平移；Isaac " +"Sim 中的 G1-D 同步运动。运控起来之后，按 [启动 " +"Viser](../2-how_to/3-programming/5-python_interface.md#start-viser) 启动 " +"Viser。" + +#: ../../source/0-overview/2-learning_path.md:163 +#: ea68f9803dc64d3385c302966562df00 +msgid "" +"The same clip, and the rest of the Isaac Sim steps, are on [G1-D full-body" +" control and chassis " +"motion](../2-how_to/2-simulation/4-isaac_sim.md#g1-d-full-body-control-" +"and-chassis-motion)." +msgstr "" +"同一段视频，以及其余 Isaac Sim 步骤，见 [G1-D " +"全身控制与底盘运动](../2-how_to/2-simulation/4-isaac_sim.md#g1-d-full-body-control-" +"and-chassis-motion)。" + +#: ../../source/0-overview/2-learning_path.md:91 +#: f2e3565622f943bfbe423866afa2ac35 +msgid "" +"" +msgstr "" +"" + +#: ../../source/0-overview/2-learning_path.md:157 +#: f2e3565622f943bfbe423866afa2ac35 +msgid "" +"" +msgstr "" +"" + #~ msgid "Day 6+" #~ msgstr "" diff --git a/source/0-overview/2-learning_path.md b/source/0-overview/2-learning_path.md index 936712c..d842875 100644 --- a/source/0-overview/2-learning_path.md +++ b/source/0-overview/2-learning_path.md @@ -86,6 +86,14 @@ ros2 launch ocs2_arm_controller full_body.launch.py robot:=arx_lift2s `arx_lift2s` is **ARX Lift 2S** (方舟无限), the full-body mobile manipulator (arms, lift, and chassis). It is not **Acone** / **AC One** (`arx_acone`, dual-arm). `full_body.launch.py` starts `ocs2_wbc_controller`, which ships in the `ros-jazzy-arms-ros2-control` deb. +This clip shows operating the ARX Lift 2S (方舟无限 Lift 2S, a dual-arm mobile manipulator) in RViz: drag the left and right end-effector interactive markers, then use the right-click menu to send the end-effector pose; both arms follow the targets. The clip has no terminal or launch commands. + +```{raw} html + +``` + ### FiveAges W2 with xhand1 W2 is a FiveAges wheeled-arm robot. Its URDF is public ([fa-w2-description](https://github.com/fiveages-sim/fa-w2-description)); the usual workspace is [fa-deploy-ws](https://github.com/fiveages-sim/fa-deploy-ws) (default branch `fa-w2`). See [FiveAges robot descriptions](../4-reference/descriptions/4-fiveages_umbrella.md) and [fa-deploy-ws Setup](../1-getting_started/4-fa_deploy_ws.md). @@ -142,7 +150,17 @@ Do not copy the rest of the Python API here. Full Viser UI: [ros2-viser](../4-re **FaSim** pairs NVIDIA Isaac Sim with the same ROS 2 运控 stack as the real robot. Follow [Isaac Sim](../2-how_to/2-simulation/4-isaac_sim.md): clone [FaSim-Isaac](https://github.com/fiveages-sim/FaSim-Isaac), run `./init.sh`, then `./run.sh`, and connect with **one** of the two paths on that page (`hardware:=isaac`, or Play on a `ROS2ControlLaunch` payload). Default Isaac path is `ISAACSIM_DIR` (`~/isaacsim`); override in `config/fa_sim.local.conf`. -Start Viser the way you did on Day 3, after the Isaac / ROS 2 stack is up, so you can view and control the robot in the browser: [Start Viser](../2-how_to/3-programming/5-python_interface.md#start-viser). A G1-D demonstration of full-body control and chassis motion is on that How-To page: [G1-D full-body control and chassis motion](../2-how_to/2-simulation/4-isaac_sim.md#g1-d-full-body-control-and-chassis-motion). +Start Viser the way you did on Day 3, after the Isaac / ROS 2 stack is up, so you can view and control the robot in the browser: [Start Viser](../2-how_to/3-programming/5-python_interface.md#start-viser). + +This clip is a G1-D demonstration of full-body control in Isaac Sim. On the Viser web control interface, drag the dual-arm end-effector targets and move the chassis in rotation and translation; G1-D in Isaac Sim moves with it. Start Viser as in [Start Viser](../2-how_to/3-programming/5-python_interface.md#start-viser) after the stack is up. + +```{raw} html + +``` + +The same clip, and the rest of the Isaac Sim steps, are on [G1-D full-body control and chassis motion](../2-how_to/2-simulation/4-isaac_sim.md#g1-d-full-body-control-and-chassis-motion). What the two connections and the Kit extensions do: [FaSim-Isaac](../4-reference/simulation/2-fasim_isaac.md). Assets: [robot_usds](../4-reference/simulation/3-robot_usds.md), [Environment assets](../4-reference/simulation/5-env_assets.md). diff --git a/source/_static/videos/day2-arx-lift2s.mp4 b/source/_static/videos/day2-arx-lift2s.mp4 new file mode 100644 index 0000000..b068eba Binary files /dev/null and b/source/_static/videos/day2-arx-lift2s.mp4 differ