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2 changes: 1 addition & 1 deletion docs/index.rst
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Expand Up @@ -6,7 +6,7 @@ Overview
:alt: H1 Humanoid example using Isaac Lab


** 本翻译项目不属于 NVIDIA 官方文档,仅供学习交流使用,禁止转载或用于商业用途。译者:范子琦 **
**注意** 本翻译项目不属于 NVIDIA 或 IsaacLab 官方文档,由范子琦提供中文翻译,仅供学习交流使用,禁止转载或用于商业用途。详情请查看`关于翻译 <source/setup/translation>`_ 章节。

**Isaac Lab** is a unified and modular framework for robot learning that aims to simplify common workflows
in robotics research (such as reinforcement learning, learning from demonstrations, and motion planning). It is built upon
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Expand Up @@ -338,7 +338,7 @@ msgstr "自适应奇异值分解(SVD)伪逆来源 :cite:t:`buss2004ik`."
msgid ""
"These implementations are available through the "
":class:`DifferentialInverseKinematics` class."
msgstr "这些实现可以通过 :class:`DifferentialInverseKinematics` 类进行。[Google 翻译]"
msgstr "这些实现可以通过 :class:`DifferentialInverseKinematics` 类进行"

#: ../../source/features/motion_generators.rst:169
msgid "Impedance controller"
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Expand Up @@ -21,7 +21,7 @@ msgstr ""

#: ../../source/features/reproducibility.rst:2
msgid "Reproducibility and Determinism"
msgstr "可重现性 和 确定性"
msgstr "可重现性和确定性"

#: ../../source/features/reproducibility.rst:4
msgid ""
Expand All @@ -34,8 +34,8 @@ msgid ""
"refer to the `PhysX Determinism documentation`_."
msgstr ""
"给定相同的硬件和Isaac "
"Sim(因此也有PhysX)版本,对于具有刚体和关节的场景,模拟会产生相同的结果。但是,由于浮点精度和舍入误差,模拟结果可能会因不同的硬件配置而变化。目前,PhysX不保证对于具有非刚体(如布料或软体)的任何场景是确定性的。有关更多信息,请参阅`PhysX"
" Determinism documentation`_。"
"Sim(因此也有PhysX)版本,对于具有刚体和关节的场景,模拟会产生相同的结果。但是,由于浮点精度和舍入误差,模拟结果可能会因不同的硬件配置而变化。目前,PhysX不保证对于具有非刚体(如布料或软体)的任何场景是确定性的。有关更多信息,请参阅 `PhysX"
" Determinism documentation`_ 。"

#: ../../source/features/reproducibility.rst:10
msgid ""
Expand All @@ -47,7 +47,7 @@ msgid ""
"This method sets the random seed for both the CPU and GPU globally across "
"different libraries, including PyTorch and NumPy."
msgstr ""
"基于上述,Isaac实验室提供确定性仿真,确保在不同运行中获得一致的仿真结果。这是通过在仿真环境和物理引擎中使用相同的随机种子来实现的。在构建环境时,随机种子使用:meth:`~omni.isaac.core.utils.torch.set_seed`方法设置为固定值。该方法在不同库(包括PyTorch和NumPy)中全局设置CPU和GPU的随机种子。"
"基于上述,Isaac实验室提供确定性仿真,确保在不同运行中获得一致的仿真结果。这是通过在仿真环境和物理引擎中使用相同的随机种子来实现的。在构建环境时,随机种子使用 :meth:`~omni.isaac.core.utils.torch.set_seed` 方法设置为固定值。该方法在不同库(包括PyTorch和NumPy)中全局设置CPU和GPU的随机种子。"

#: ../../source/features/reproducibility.rst:17
msgid ""
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28 changes: 14 additions & 14 deletions docs/locale/zh_CN/LC_MESSAGES/source/features/tiled_rendering.po
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Expand Up @@ -21,7 +21,7 @@ msgstr ""

#: ../../source/features/tiled_rendering.rst:2
msgid "Tiled-Camera Rendering"
msgstr "平铺渲染"
msgstr "平铺相机渲染"

#: ../../source/features/tiled_rendering.rst:8
msgid "This feature is only available from Isaac Sim version 4.2.0 onwards."
Expand Down Expand Up @@ -89,56 +89,56 @@ msgid ""
"Both :class:`~sensors.TiledCamera` and :class:`~sensors.Camera` classes "
"provide APIs for retrieving various types annotator data from replicator:"
msgstr ""
"`class:`~sensors.TiledCamera` 和class:`~sensors.Camera` "
"`:class:`~sensors.TiledCamera` 和 :class:`~sensors.Camera` "
"类提供了从复制器中检索各种类型注释器数据的 API:"

#: ../../source/features/tiled_rendering.rst:65
msgid "``\"rgb\"``: A 3-channel rendered color image."
msgstr "`` \"rgb\" `` :一个由 3 通道渲染的彩色图像。"
msgstr "``\"rgb\"`` :一个由 3 通道渲染的彩色图像。"

#: ../../source/features/tiled_rendering.rst:66
msgid "``\"rgba\"``: A 4-channel rendered color image with alpha channel."
msgstr "`` \"rgba\" `` :一个由4个通道渲染的带有 Alpha 通道的彩色图像。"
msgstr "``\"rgba\"`` :一个由4个通道渲染的带有 Alpha 通道的彩色图像。"

#: ../../source/features/tiled_rendering.rst:67
msgid ""
"``\"distance_to_camera\"``: An image containing the distance to camera "
"optical center."
msgstr "`` \"distance_to_camera\" `` :包含到相机光学中心的距离的图像。"
msgstr "``\"distance_to_camera\"`` :包含到相机光学中心的距离的图像。"

#: ../../source/features/tiled_rendering.rst:68
msgid ""
"``\"distance_to_image_plane\"``: An image containing distances of 3D points "
"from camera plane along camera's z-axis."
msgstr "`` \"distance_to_image_plane\" `` :包含 3D 点从相机平面沿相机Z轴的距离的图像。"
msgstr "``\"distance_to_image_plane\"`` :包含 3D 点从相机平面沿相机Z轴的距离的图像。"

#: ../../source/features/tiled_rendering.rst:69
msgid "``\"depth\"``: The same as ``\"distance_to_image_plane\"``."
msgstr "`` \"depth\" `` :和 `` \"distance_to_image_plane\" `` 相同。"
msgstr "``\"depth\"`` :和 ``\"distance_to_image_plane\"`` 相同。"

#: ../../source/features/tiled_rendering.rst:70
msgid ""
"``\"normals\"``: An image containing the local surface normal vectors at "
"each pixel."
msgstr "`` \"normals\" `` :包含每个像素处的局部表面法线向量的图像。"
msgstr "``\"normals\"`` :包含每个像素处的局部表面法线向量的图像。"

#: ../../source/features/tiled_rendering.rst:71
msgid ""
"``\"motion_vectors\"``: An image containing the motion vector data at each "
"pixel."
msgstr "`` \"motion_vectors\" `` :包含每个像素的运动矢量数据的图像。"
msgstr "``\"motion_vectors\"`` :包含每个像素的运动矢量数据的图像。"

#: ../../source/features/tiled_rendering.rst:72
msgid "``\"semantic_segmentation\"``: The semantic segmentation data."
msgstr "`` \"semantic_segmentation\" `` :语义分割数据。"
msgstr "``\"semantic_segmentation\"`` :语义分割数据。"

#: ../../source/features/tiled_rendering.rst:73
msgid "``\"instance_segmentation_fast\"``: The instance segmentation data."
msgstr "`` \"instance_segmentation_fast\" `` :实例分割数据。"
msgstr "``\"instance_segmentation_fast\"`` :实例分割数据。"

#: ../../source/features/tiled_rendering.rst:74
msgid "``\"instance_id_segmentation_fast\"``: The instance id segmentation data."
msgstr "`` \"instance_id_segmentation_fast\" `` :实例 ID 分割数据。"
msgstr "``\"instance_id_segmentation_fast\"`` :实例 ID 分割数据。"

#: ../../source/features/tiled_rendering.rst:77
msgid "RGB and RGBA"
Expand Down Expand Up @@ -174,7 +174,7 @@ msgid ""
" the camera optical center. The dimension for this annotator is (B, H, W, 1)"
" and has type ``torch.float32``."
msgstr ""
"``distance_to_camera``返回一个单通道深度图像,显示到相机光学中心的距离。这个注释器的尺寸为(B,H,W,1),类型为 "
"``distance_to_camera`` 返回一个单通道深度图像,显示到相机光学中心的距离。这个注释器的尺寸为(B,H,W,1),类型为 "
"``torch.float32`` 。"

#: ../../source/features/tiled_rendering.rst:90
Expand Down Expand Up @@ -290,7 +290,7 @@ msgid ""
" down the hierarchy to the lowest level prim which has semantic labels, "
"where instance ID segmentation always goes down to the leaf prim."
msgstr ""
"``instance_id_segmentation_fast````instance_segmentation_fast``之间的主要区别在于实例分割注释器会向下移动到具有语义标签的最低级别prim,而实例ID分割总会向下移动到叶prim。"
"``instance_id_segmentation_fast````instance_segmentation_fast ``之间的主要区别在于实例分割注释器会向下移动到具有语义标签的最低级别prim,而实例ID分割总会向下移动到叶prim。"

#: ../../source/features/tiled_rendering.rst:120
msgid ""
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Expand Up @@ -32,8 +32,8 @@ msgid ""
"characterize their relative performance at different parameters such as "
"camera quantity, image dimensions, and data types."
msgstr ""
"目前在艾萨克实验室,有几种摄像头类型; "
"USD摄像头(标准)、平铺摄像头和光线投射摄像头。这些摄像头类型在功能和性能上有所不同。``benchmark_cameras.py``脚本可用于了解摄像头类型的差异,以及表征它们在不同参数(如摄像头数量、图像尺寸和数据类型)下的相对性能。"
"目前在Isaac Lab,有几种摄像头类型; "
"USD摄像头(标准)、平铺摄像头和光线投射摄像头。这些摄像头类型在功能和性能上有所不同。``benchmark_cameras.py`` 脚本可用于了解摄像头类型的差异,以及表征它们在不同参数(如摄像头数量、图像尺寸和数据类型)下的相对性能。"

#: ../../source/how-to/estimate_how_many_cameras_can_run.rst:14
msgid ""
Expand All @@ -54,14 +54,14 @@ msgid ""
"certain specified system resource utilization threshold (without training; "
"taking zero actions at each timestep)."
msgstr ""
"这个实用程序可以将摄像头注入到来自健身房注册表的现有任务中,这对于在特定场景中对摄像头进行基准测试可能很有用。此外,如果您安装了``pynvml``,则可以让此实用程序自动查找可以在您的任务环境中运行的摄像头的最大数量,直到达到特定指定的系统资源利用阈值为止(不进行训练,在每个时间步骤上不采取任何行动)。"
"这个实用程序可以将摄像头注入到来自健身房注册表的现有任务中,这对于在特定场景中对摄像头进行基准测试可能很有用。此外,如果您安装了 ``pynvml`` ,则可以让此实用程序自动查找可以在您的任务环境中运行的摄像头的最大数量,直到达到特定指定的系统资源利用阈值为止(不进行训练,在每个时间步骤上不采取任何行动)。"

#: ../../source/how-to/estimate_how_many_cameras_can_run.rst:26
msgid ""
"This guide accompanies the ``benchmark_cameras.py`` script in the "
"``IsaacLab/source/standalone/tutorials/04_sensors`` directory."
msgstr ""
"这个指南配套使用``IsaacLab/source/standalone/tutorials/04_sensors``目录中的``benchmark_cameras.py``脚本。"
"这个指南配套使用 ``IsaacLab/source/standalone/tutorials/04_sensors`` 目录中的 ``benchmark_cameras.py`` 脚本。"

#: ../../source/how-to/estimate_how_many_cameras_can_run.rst
msgid "Code for benchmark_cameras.py"
Expand All @@ -73,7 +73,7 @@ msgstr "可能的参数"

#: ../../source/how-to/estimate_how_many_cameras_can_run.rst:40
msgid "First, run"
msgstr "首先,运行 `"
msgstr "首先,运行"

#: ../../source/how-to/estimate_how_many_cameras_can_run.rst:46
msgid "to see all possible parameters you can vary with this utility."
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Expand Up @@ -61,7 +61,7 @@ msgstr "确保在无头运行时添加``--enable_cameras``参数。请注意,

#: ../../source/how-to/record_video.rst:17
msgid "Example usage:"
msgstr "请提供您希望翻译的具体文本。"
msgstr "示例用法:"

#: ../../source/how-to/record_video.rst:24
msgid ""
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Expand Up @@ -211,8 +211,6 @@ msgid ""
"The argument ``--cpu`` has been removed in favor of ``--device "
"device_name``. Valid options for ``device_name`` are:"
msgstr ""
"以下是您要求的中文翻译:\n"
"\n"
"``--cpu`` 参数已被 ``--device device_name`` 取代。``device_name`` 的有效选项为:"

#: ../../source/migration/migrating_from_orbit.rst:98
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4 changes: 2 additions & 2 deletions docs/locale/zh_CN/LC_MESSAGES/source/overview/basic_agents.po
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Expand Up @@ -46,11 +46,11 @@ msgstr "可用的环境列表注册在 OpenAI Gym 中,可以通过运行:"

#: ../../source/overview/basic_agents.rst
msgid ":icon:`fa-brands fa-linux` Linux"
msgstr ":icon:`fa-brands fa-linux` Linux 中文字符 `Linux`_ 中文字符"
msgstr ":icon:`fa-brands fa-linux` Linux"

#: ../../source/overview/basic_agents.rst
msgid ":icon:`fa-brands fa-windows` Windows"
msgstr ":icon:`fa-brands fa-windows` 窗口"
msgstr ":icon:`fa-brands fa-windows` Windows"

#: ../../source/overview/basic_agents.rst:32
msgid "Dummy agents"
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Expand Up @@ -60,9 +60,7 @@ msgstr "我们命名两种不同类型的执行器模型:"
msgid ""
"**implicit**: corresponds to the ideal simulation mechanism (provided by "
"physics engine)."
msgstr ""
"**implicit**: corresponds to the ideal simulation mechanism (provided by physics engine).\n"
"**隐式**:对应理想的模拟机制(由物理引擎提供)。"
msgstr "**隐式**:对应于理想的仿真机制(由物理引擎提供)。"

#: ../../source/overview/core-concepts/actuators.rst:25
msgid ""
Expand Down Expand Up @@ -123,12 +121,7 @@ msgid ""
":class:`omni.isaac.lab.assets.Articulation` class, which wraps around the "
"physics engine's articulation class."
msgstr ""
"The actuator models by themselves are computational blocks that take as "
"inputs the desired joint commands and output the joint commands to apply "
"into the simulator. They do not contain any knowledge about the joints they "
"are acting on themselves. These are handled by the 中文字符 "
":class:`omni.isaac.lab.assets.Articulation` 中文字符 class, which wraps around "
"the physics engine's articulation class."
"执行器模型本身是计算块,其输入为期望的关节命令,并输出应用于模拟器的关节命令。它们不包含任何关于它们自身作用的关节的知识。这些由 :class:`omni.isaac.lab.assets.Articulation` 类处理,该类包装了物理引擎的关节类。"

#: ../../source/overview/core-concepts/actuators.rst:54
msgid ""
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Expand Up @@ -125,13 +125,9 @@ msgid ""
" while stepping through the environment, all the managers are called "
"sequentially to perform the necessary operations."
msgstr ""
"不要翻译:`:class:`envs.ManagerBasedRLEnv`` 和 `:class:`envs.ManagerBasedRLEnvCfg``\n"
"\n"
"不要破坏 reST 标记\n"
"\n"
"不要解释或回答\n"
"\n"
"经不同管理者协调,由 :class:`envs.ManagerBasedRLEnv` 类来进行编排。它接收一个任务配置类实例(:class:`envs.ManagerBasedRLEnvCfg`),该实例包含任务的各个组件的配置。根据这些配置,场景被设置并且任务被初始化。随后,在环境中进行步进操作时,所有管理者会按顺序被调用来执行必要的操作。"
"不同管理者之间的协调由类 :class:`envs.ManagerBasedRLEnv` 协调。 它接收一个任务配置类实例 ( "
":class:`envs.ManagerBasedRLEnvCfg` ),其中包含任务各个组件的配置。 根据配置,设置场景并初始化任务。 "
"然后,通过环境进行步进时,依次调用所有管理者执行必要的操作。"

#: ../../source/overview/core-concepts/task_workflows.rst:58
msgid ""
Expand All @@ -151,7 +147,7 @@ msgstr ""
msgid ""
"Example for defining the reward function for the Cartpole task using the "
"manager-style"
msgstr "示例用于使用管理器样式定义Cartpole任务的奖励函数"
msgstr "用于使用管理器样式定义Cartpole任务的奖励函数的示例"

#: ../../source/overview/core-concepts/task_workflows.rst:66
msgid ""
Expand Down Expand Up @@ -181,11 +177,12 @@ msgstr ""
msgid ""
"We provide a more detailed tutorial for setting up an environment using the "
"manager-based workflow at :ref:`tutorial-create-manager-rl-env`."
msgstr "我们为使用基于管理器的工作流设置环境提供了更详细的教程,位于:ref:`tutorial-create-manager-rl-env`。"
msgstr ""
"我们为使用基于管理器的工作流设置环境提供了更详细的教程,位于 :ref:`tutorial-create-manager-rl-env` 。"

#: ../../source/overview/core-concepts/task_workflows.rst:89
msgid "Direct Environments"
msgstr "直接环境"
msgstr "直接的环境"

#: ../../source/overview/core-concepts/task_workflows.rst:91
msgid ""
Expand All @@ -198,9 +195,9 @@ msgid ""
":class:`envs.DirectMARLEnv`. For users migrating from the `IsaacGymEnvs`_ "
"and `OmniIsaacGymEnvs`_ framework, this workflow may be more familiar."
msgstr ""
"直接样式环境更符合传统环境实现,其中单个脚本直接实现奖励函数、观测函数、重置和环境的所有其他组件。这种方法不需要管理类。相反,用户可以通过基类:class:"
" `envs.DirectRLEnv`:class: `envs.DirectMARLEnv` "
"的API自由实现他们的任务。对于从`IsaacGymEnvs`_ 和 `OmniIsaacGymEnvs`_ 框架迁移的用户,这种工作流程可能更为熟悉。"
"直接样式环境更符合传统环境实现,其中单个脚本直接实现奖励函数、观测函数、重置和环境的所有其他组件。这种方法不需要管理类。相反,用户可以通过基类 "
":class: `envs.DirectRLEnv`:class: `envs.DirectMARLEnv` 的API自由实现他们的任务。对于从 "
"`IsaacGymEnvs`_ 和 `OmniIsaacGymEnvs`_ 框架迁移的用户,这种工作流程可能更为熟悉。"

#: ../../source/overview/core-concepts/task_workflows.rst:97
msgid ""
Expand Down
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