Skip to content

docs: embed Lift 2S and G1-D videos on the learning path #37

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
legubiao merged 1 commit into from
Nov 13, 2026
Merged

docs: embed Lift 2S and G1-D videos on the learning path #37

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
71 changes: 71 additions & 0 deletions locale/zh_CN/LC_MESSAGES/0-overview/2-learning_path.po
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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 ""
"<video controls preload=\"metadata\" width=\"100%\">\n"
" <source src=\"../_static/videos/day2-arx-lift2s.mp4\" type=\"video/mp4\">\n"
"</video>"
msgstr ""
"<video controls preload=\"metadata\" width=\"100%\">\n"
" <source src=\"../_static/videos/day2-arx-lift2s.mp4\" type=\"video/mp4\">\n"
"</video>"

#: ../../source/0-overview/2-learning_path.md:157
#: f2e3565622f943bfbe423866afa2ac35
msgid ""
"<video controls preload=\"metadata\" width=\"100%\">\n"
" <source src=\"../_static/videos/isaac-g1d-full-body-mobile.mp4\" type=\"video/mp4\">\n"
"</video>"
msgstr ""
"<video controls preload=\"metadata\" width=\"100%\">\n"
" <source src=\"../_static/videos/isaac-g1d-full-body-mobile.mp4\" type=\"video/mp4\">\n"
"</video>"

#~ msgid "Day 6+"
#~ msgstr ""

Expand Down
20 changes: 19 additions & 1 deletion source/0-overview/2-learning_path.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
<video controls preload="metadata" width="100%">
<source src="../_static/videos/day2-arx-lift2s.mp4" type="video/mp4">
</video>
```

### 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).
Expand Down Expand Up @@ -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
<video controls preload="metadata" width="100%">
<source src="../_static/videos/isaac-g1d-full-body-mobile.mp4" type="video/mp4">
</video>
```

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).

Expand Down
Binary file added source/_static/videos/day2-arx-lift2s.mp4
View file
Open in desktop
Binary file not shown.
Loading