docs: auto translate

.github/workflows/sync-and-translate.yml

@@ -0,0 +1,85 @@
+name: Sync and Translate Documentation
+
+on:
+  schedule:
+    - cron: '0 0 * * *'  # 每天 UTC 时间午夜运行一次
+  workflow_dispatch:
+
+jobs:
+  sync-and-translate:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout user's repo (main branch)
+      uses: actions/checkout@v2
+      with:
+        repository: fan-ziqi/IsaacLab
+        ref: main
+
+    - name: Configure Git user
+      run: |
+        git config --global user.name 'github-actions'
+        git config --global user.email '[email protected]'
+
+    - name: Add upstream repository
+      run: git remote add upstream https://github.com/isaac-sim/IsaacLab.git
+
+    - name: Merge upstream changes while keeping local changes
+      run: |
+        git fetch upstream
+        git checkout main
+        git merge upstream/main -X ours --allow-unrelated-histories
+
+    - name: Set up Python
+      uses: actions/setup-python@v2
+      with:
+        python-version: '3.x'
+
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install setuptools polib==1.2.0 openai==v1.3.6 python-dotenv==1.0.0 pytest==8.2.2 sphinx-intl sphinx-book-theme==1.0.1 myst-parser sphinxcontrib-bibtex==2.5.0 autodocsumm sphinx-copybutton sphinx-icon sphinx_design sphinxemoji numpy matplotlib warp-lang gymnasium
+
+    - name: Generate gettext
+      run: |
+        pushd docs
+        make gettext
+        popd
+
+    - name: Update translations
+      run: |
+        pushd docs
+        sphinx-intl update -p _build/gettext -l zh_CN
+        popd
+
+    - name: Translate using custom script
+      run: |
+        pushd docs
+        python po_translator.py --folder ./locale --lang zh_CN --folder-language --bulk
+        popd
+
+    - name: Build HTML with translations
+      run: make -e SPHINXOPTS="-D language='zh_CN'" -C docs html
+
+    - name: Copy generated HTML files to user repo
+      run: |
+        mkdir -p temp_html
+        cp -r docs/_build/html/* temp_html/
+
+    - name: Commit and push gettext and po files to main branch
+      run: |
+        git add -f docs/_build/gettext/*
+        git add -f docs/locale/zh_CN/LC_MESSAGES/**/*.po
+        git commit -m "Update gettext and po files"
+        git push origin main
+
+    - name: Commit and push changes to gh-pages-zhcn branch
+      run: |
+        git checkout --orphan gh-pages-zhcn
+        git rm -rf .
+        cp -r temp_html/* .
+        rm -rf temp_html
+        rm -rf docs
+        git add .
+        git commit -m "Update translated documentation"
+        git push origin gh-pages-zhcn --force

docs/README.md

@@ -28,3 +28,10 @@ Execute the following instructions to build the documentation (assumed from the
     # open on default browser
     xdg-open _build/html/index.html
     ```
+
+```bash
+make gettext
+sphinx-intl update -p _build/gettext -l zh_CN
+python po_translator.py --folder ./locales --lang zh_CN --folder-language --bulk
+make -e SPHINXOPTS="-D language='zh_CN'" html
+```

docs/_build/gettext/_sphinx_design_static/design-tabs.js

@@ -0,0 +1,101 @@
+// @ts-check
+
+// Extra JS capability for selected tabs to be synced
+// The selection is stored in local storage so that it persists across page loads.
+
+/**
+ * @type {Record<string, HTMLElement[]>}
+ */
+let sd_id_to_elements = {};
+const storageKeyPrefix = "sphinx-design-tab-id-";
+
+/**
+ * Create a key for a tab element.
+ * @param {HTMLElement} el - The tab element.
+ * @returns {[string, string, string] | null} - The key.
+ *
+ */
+function create_key(el) {
+  let syncId = el.getAttribute("data-sync-id");
+  let syncGroup = el.getAttribute("data-sync-group");
+  if (!syncId || !syncGroup) return null;
+  return [syncGroup, syncId, syncGroup + "--" + syncId];
+}
+
+/**
+ * Initialize the tab selection.
+ *
+ */
+function ready() {
+  // Find all tabs with sync data
+
+  /** @type {string[]} */
+  let groups = [];
+
+  document.querySelectorAll(".sd-tab-label").forEach((label) => {
+    if (label instanceof HTMLElement) {
+      let data = create_key(label);
+      if (data) {
+        let [group, id, key] = data;
+
+        // add click event listener
+        // @ts-ignore
+        label.onclick = onSDLabelClick;
+
+        // store map of key to elements
+        if (!sd_id_to_elements[key]) {
+          sd_id_to_elements[key] = [];
+        }
+        sd_id_to_elements[key].push(label);
+
+        if (groups.indexOf(group) === -1) {
+          groups.push(group);
+          // Check if a specific tab has been selected via URL parameter
+          const tabParam = new URLSearchParams(window.location.search).get(
+            group
+          );
+          if (tabParam) {
+            console.log(
+              "sphinx-design: Selecting tab id for group '" +
+                group +
+                "' from URL parameter: " +
+                tabParam
+            );
+            window.sessionStorage.setItem(storageKeyPrefix + group, tabParam);
+          }
+        }
+
+        // Check is a specific tab has been selected previously
+        let previousId = window.sessionStorage.getItem(
+          storageKeyPrefix + group
+        );
+        if (previousId === id) {
+          // console.log(
+          //   "sphinx-design: Selecting tab from session storage: " + id
+          // );
+          // @ts-ignore
+          label.previousElementSibling.checked = true;
+        }
+      }
+    }
+  });
+}
+
+/**
+ *  Activate other tabs with the same sync id.
+ *
+ * @this {HTMLElement} - The element that was clicked.
+ */
+function onSDLabelClick() {
+  let data = create_key(this);
+  if (!data) return;
+  let [group, id, key] = data;
+  for (const label of sd_id_to_elements[key]) {
+    if (label === this) continue;
+    // @ts-ignore
+    label.previousElementSibling.checked = true;
+  }
+  window.sessionStorage.setItem(storageKeyPrefix + group, id);
+}
+
+document.addEventListener("DOMContentLoaded", ready, false);

docs/_build/gettext/_static/twemoji.css

@@ -0,0 +1,6 @@
+img.emoji {
+    height: 1em;
+    width: 1em;
+    margin: 0 .05em 0 .1em;
+    vertical-align: -0.1em;
+}

docs/_build/gettext/_static/twemoji.js

@@ -0,0 +1,10 @@
+function addEvent(element, eventName, fn) {
+    if (element.addEventListener)
+        element.addEventListener(eventName, fn, false);
+    else if (element.attachEvent)
+        element.attachEvent('on' + eventName, fn);
+}
+
+addEvent(window, 'load', function() {
+    twemoji.parse(document.body, {'folder': 'svg', 'ext': '.svg'});
+});

docs/_build/gettext/index.pot

@@ -0,0 +1,133 @@
+# SOME DESCRIPTIVE TITLE.
+# Copyright (C) 2022-2024, The Isaac Lab Project Developers.
+# This file is distributed under the same license as the Isaac Lab package.
+# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.
+#
+#, fuzzy
+msgid ""
+msgstr ""
+"Project-Id-Version: Isaac Lab 1.0.0\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2024-07-04 12:24+0000\n"
+"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
+"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
+"Language-Team: LANGUAGE <[email protected]>\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+
+#: ../../index.rst:58
+msgid "Getting Started"
+msgstr ""
+
+#: ../../index.rst:69
+msgid "Features"
+msgstr ""
+
+#: ../../index.rst:80
+msgid "Resources"
+msgstr ""
+
+#: ../../index.rst:89
+msgid "Source API"
+msgstr ""
+
+#: ../../index.rst:95
+msgid "Migration Guides"
+msgstr ""
+
+#: ../../index.rst:104
+msgid "References"
+msgstr ""
+
+#: ../../index.rst:115
+msgid "GitHub"
+msgstr ""
+
+#: ../../index.rst:115
+msgid "NVIDIA Isaac Sim"
+msgstr ""
+
+#: ../../index.rst:115
+msgid "NVIDIA PhysX"
+msgstr ""
+
+#: ../../index.rst:115
+msgid "Project Links"
+msgstr ""
+
+#: ../../index.rst:2
+msgid "Overview"
+msgstr ""
+
+#: ../../index.rst:-1
+msgid "H1 Humanoid example using Isaac Lab"
+msgstr ""
+
+#: ../../index.rst:8
+msgid "**Isaac Lab** is a unified and modular framework for robot learning that aims to simplify common workflows in robotics research (such as RL, learning from demonstrations, and motion planning). It is built upon `NVIDIA Isaac Sim`_ to leverage the latest simulation capabilities for photo-realistic scenes, and fast and efficient simulation. The core objectives of the framework are:"
+msgstr ""
+
+#: ../../index.rst:13
+msgid "**Modularity**: Easily customize and add new environments, robots, and sensors."
+msgstr ""
+
+#: ../../index.rst:14
+msgid "**Agility**: Adapt to the changing needs of the community."
+msgstr ""
+
+#: ../../index.rst:15
+msgid "**Openness**: Remain open-sourced to allow the community to contribute and extend the framework."
+msgstr ""
+
+#: ../../index.rst:16
+msgid "**Battery-included**: Include a number of environments, sensors, and tasks that are ready to use."
+msgstr ""
+
+#: ../../index.rst:18
+msgid "Key features available in Isaac Lab include fast and accurate physics simulation provided by PhysX, tiled rendering APIs for vectorized rendering, domain randomization for improving robustness and adaptability, and support for running in the cloud."
+msgstr ""
+
+#: ../../index.rst:22
+msgid "For more information about the framework, please refer to the `paper <https://arxiv.org/abs/2301.04195>`_ :cite:`mittal2023orbit`. For clarifications on NVIDIA Isaac ecosystem, please check out the :doc:`/source/setup/faq` section."
+msgstr ""
+
+#: ../../index.rst:-1
+msgid "Example tasks created using Isaac Lab"
+msgstr ""
+
+#: ../../index.rst:32
+msgid "License"
+msgstr ""
+
+#: ../../index.rst:34
+msgid "The Isaac Lab framework is open-sourced under the BSD-3-Clause license. Please refer to :ref:`license` for more details."
+msgstr ""
+
+#: ../../index.rst:38
+msgid "Acknowledgement"
+msgstr ""
+
+#: ../../index.rst:39
+msgid "Isaac Lab development initiated from the `Orbit <https://isaac-orbit.github.io/>`_ framework. We would appreciate if you would cite it in academic publications as well:"
+msgstr ""
+
+#: ../../index.rst:56
+msgid "Table of Contents"
+msgstr ""
+
+#: ../../index.rst:124
+msgid "Indices and tables"
+msgstr ""
+
+#: ../../index.rst:126
+msgid ":ref:`genindex`"
+msgstr ""
+
+#: ../../index.rst:127
+msgid ":ref:`modindex`"
+msgstr ""
+
+#: ../../index.rst:128
+msgid ":ref:`search`"
+msgstr ""