docs: update 20240920

docs/index.rst

@@ -5,6 +5,8 @@ Overview
    :width: 100%
    :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**
+
 **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

docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.assets.po

@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: Isaac Lab 1.0.0\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2024-08-25 14:27+0000\n"
+"POT-Creation-Date: 2024-09-20 15:08+0800\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: Ziqi Fan <[email protected]>\n"
 "Language: zh_CN\n"
@@ -17,7 +17,7 @@ msgstr ""
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=utf-8\n"
 "Content-Transfer-Encoding: 8bit\n"
-"Generated-By: Babel 2.16.0\n"
+"Generated-By: Babel 2.15.0\n"
 
 #: ../../source/api/lab/omni.isaac.lab.assets.rst:2
 msgid "omni.isaac.lab.assets"
@@ -1237,6 +1237,18 @@ msgstr ""
 msgid "Default mass read from the simulation."
 msgstr ""
 
+#: of
+#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1:<autosummary>:1
+msgid ""
+":py:obj:`default_inertia "
+"<omni.isaac.lab.assets.RigidObjectData.default_inertia>`\\"
+msgstr ""
+
+#: of
+#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1:<autosummary>:1
+msgid "Default inertia tensor read from the simulation."
+msgstr ""
+
 #: of
 #: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1:<autosummary>:1
 msgid ""
@@ -1481,6 +1493,20 @@ msgstr ""
 msgid "Default mass read from the simulation. Shape is (num_instances, 1)."
 msgstr ""
 
+#: ../../docstring of omni.isaac.lab.assets.RigidObjectData.default_inertia:1
+msgid ""
+"Default inertia tensor read from the simulation. Shape is (num_instances,"
+" 9)."
+msgstr ""
+
+#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_inertia:3
+#: omni.isaac.lab.assets.RigidObjectData.default_inertia:3
+msgid ""
+"The inertia is the inertia tensor relative to the center of mass frame. "
+"The values are stored in the order :math:`[I_{xx}, I_{xy}, I_{xz}, "
+"I_{yx}, I_{yy}, I_{yz}, I_{zx}, I_{zy}, I_{zz}]`."
+msgstr ""
+
 #: of omni.isaac.lab.assets.ArticulationData.root_state_w:1
 #: omni.isaac.lab.assets.RigidObjectData.root_state_w:1
 msgid ""
@@ -2696,6 +2722,16 @@ msgid ""
 "<omni.isaac.lab.assets.ArticulationData.default_mass>`\\"
 msgstr ""
 
+#: of omni.isaac.lab.assets.ArticulationData.body_names:1:<autosummary>:1
+msgid ""
+":py:obj:`default_inertia "
+"<omni.isaac.lab.assets.ArticulationData.default_inertia>`\\"
+msgstr ""
+
+#: of omni.isaac.lab.assets.ArticulationData.body_names:1:<autosummary>:1
+msgid "Default inertia read from the simulation."
+msgstr ""
+
 #: of omni.isaac.lab.assets.ArticulationData.body_names:1:<autosummary>:1
 msgid ""
 ":py:obj:`default_joint_pos "
@@ -3154,6 +3190,12 @@ msgid ""
 "num_bodies)."
 msgstr ""
 
+#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_inertia:1
+msgid ""
+"Default inertia read from the simulation. Shape is (num_instances, "
+"num_bodies, 9)."
+msgstr ""
+
 #: ../../docstring of
 #: omni.isaac.lab.assets.ArticulationData.default_joint_pos:1
 msgid ""

docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.envs.mdp.po

@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: Isaac Lab 1.0.0\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2024-08-07 13:44+0000\n"
+"POT-Creation-Date: 2024-09-20 15:08+0800\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: Ziqi Fan <[email protected]>\n"
 "Language: zh_CN\n"
@@ -1442,7 +1442,17 @@ msgid ""
 " the operation."
 msgstr ""
 
-#: of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass:7
+#: of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass:6
+msgid ""
+"If the ``recompute_inertia`` flag is set to ``True``, the function "
+"recomputes the inertia tensor of the bodies after setting the mass. This "
+"is useful when the mass is changed significantly, as the inertia tensor "
+"depends on the mass. It assumes the body is a uniform density object. If "
+"the body is not a uniform density object, the inertia tensor may not be "
+"accurate."
+msgstr ""
+
+#: of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass:12
 msgid ""
 "This function uses CPU tensors to assign the body masses. It is "
 "recommended to use this function only during the initialization of the "
@@ -1879,6 +1889,30 @@ msgstr ""
 msgid "Distribution ranges for the velocity commands."
 msgstr ""
 
+#: of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1:<autosummary>:1
+msgid ""
+":py:obj:`goal_vel_visualizer_cfg "
+"<omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.goal_vel_visualizer_cfg>`\\"
+msgstr ""
+
+#: of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1:<autosummary>:1
+msgid "The configuration for the goal velocity visualization marker."
+msgstr ""
+
+#: of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1:<autosummary>:1
+msgid ""
+":py:obj:`current_vel_visualizer_cfg "
+"<omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.current_vel_visualizer_cfg>`\\"
+msgstr ""
+
+#: of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1:<autosummary>:1
+msgid "The configuration for the current velocity visualization marker."
+msgstr ""
+
 #: of
 #: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name:1:<autosummary>:1
 msgid ""
@@ -1902,6 +1936,22 @@ msgid ""
 "provided range."
 msgstr ""
 
+#: ../../docstring of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.goal_vel_visualizer_cfg:1
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.goal_vel_visualizer_cfg:1
+msgid ""
+"The configuration for the goal velocity visualization marker. Defaults to"
+" GREEN_ARROW_X_MARKER_CFG."
+msgstr ""
+
+#: ../../docstring of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.current_vel_visualizer_cfg:1
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.current_vel_visualizer_cfg:1
+msgid ""
+"The configuration for the current velocity visualization marker. Defaults"
+" to BLUE_ARROW_X_MARKER_CFG."
+msgstr ""
+
 #: of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1
 msgid ""
 "Bases: "
@@ -2031,6 +2081,31 @@ msgstr ""
 msgid "Ranges for the commands."
 msgstr ""
 
+#: of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1:<autosummary>:1
+msgid ""
+":py:obj:`goal_pose_visualizer_cfg "
+"<omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.goal_pose_visualizer_cfg>`\\"
+msgstr ""
+
+#: of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1:<autosummary>:1
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1:<autosummary>:1
+msgid "The configuration for the goal pose visualization marker."
+msgstr ""
+
+#: of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1:<autosummary>:1
+msgid ""
+":py:obj:`current_pose_visualizer_cfg "
+"<omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.current_pose_visualizer_cfg>`\\"
+msgstr ""
+
+#: of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1:<autosummary>:1
+msgid "The configuration for the current pose visualization marker."
+msgstr ""
+
 #: of
 #: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name:1:<autosummary>:1
 msgid ""
@@ -2056,6 +2131,20 @@ msgid ""
 "positive."
 msgstr ""
 
+#: ../../docstring of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.goal_pose_visualizer_cfg:1
+msgid ""
+"The configuration for the goal pose visualization marker. Defaults to "
+"FRAME_MARKER_CFG."
+msgstr ""
+
+#: ../../docstring of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.current_pose_visualizer_cfg:1
+msgid ""
+"The configuration for the current pose visualization marker. Defaults to "
+"FRAME_MARKER_CFG."
+msgstr ""
+
 #: of
 #: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1:<autosummary>:1
 msgid ""
@@ -2090,6 +2179,13 @@ msgstr ""
 msgid "Distribution ranges for the position commands."
 msgstr ""
 
+#: of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1:<autosummary>:1
+msgid ""
+":py:obj:`goal_pose_visualizer_cfg "
+"<omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.goal_pose_visualizer_cfg>`\\"
+msgstr ""
+
 #: of
 #: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range:1:<autosummary>:1
 msgid ""
@@ -2158,6 +2254,14 @@ msgstr ""
 msgid "Used only if :attr:`simple_heading` is False."
 msgstr ""
 
+#: ../../docstring of
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.goal_pose_visualizer_cfg:1
+#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.goal_pose_visualizer_cfg:1
+msgid ""
+"The configuration for the goal pose visualization marker. Defaults to "
+"GREEN_ARROW_X_MARKER_CFG."
+msgstr ""
+
 #: of
 #: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1
 msgid ""

docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.po

@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: Isaac Lab 1.0.0\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2024-09-13 03:20+0000\n"
+"POT-Creation-Date: 2024-08-15 23:47+0800\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: Ziqi Fan <[email protected]>\n"
 "Language: zh_CN\n"
@@ -17,7 +17,7 @@ msgstr ""
 "MIME-Version: 1.0\n"
 "Content-Type: text/plain; charset=utf-8\n"
 "Content-Transfer-Encoding: 8bit\n"
-"Generated-By: Babel 2.16.0\n"
+"Generated-By: Babel 2.15.0\n"
 
 #: ../../source/api/lab/omni.isaac.lab.sim.rst:2
 msgid "omni.isaac.lab.sim"
@@ -252,7 +252,6 @@ msgid "Different rendering modes for the simulation."
 msgstr ""
 
 #: of omni.isaac.lab.sim.simulation_context.SimulationContext:1
-#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1
 msgid "**Methods:**"
 msgstr ""
 
@@ -469,70 +468,63 @@ msgid "**Attributes:**"
 msgstr ""
 
 #: of
-#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
+#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
 msgid ""
 ":py:obj:`NO_GUI_OR_RENDERING "
 "<omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING>`\\"
 msgstr ""
 
 #: ../../docstring of
 #: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1
-#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
+#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
 msgid ""
 "The simulation is running without a GUI and off-screen rendering is "
 "disabled."
 msgstr ""
 
 #: of
-#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
+#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
 msgid ""
 ":py:obj:`NO_RENDERING "
 "<omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING>`\\"
 msgstr ""
 
 #: ../../docstring of
+#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
 #: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING:1
-#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
 msgid "No rendering, where only other UI elements are updated at a lower rate."
 msgstr ""
 
 #: of
-#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
+#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
 msgid ""
 ":py:obj:`PARTIAL_RENDERING "
 "<omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING>`\\"
 msgstr ""
 
 #: ../../docstring of
+#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
 #: omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING:1
-#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
 msgid ""
 "Partial rendering, where the simulation cameras and UI elements are "
 "updated."
 msgstr ""
 
 #: of
-#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
+#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
 msgid ""
 ":py:obj:`FULL_RENDERING "
 "<omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING>`\\"
 msgstr ""
 
 #: ../../docstring of
 #: omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING:1
-#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1:<autosummary>:1
+#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
 msgid ""
 "Full rendering, where all the simulation viewports, cameras and UI "
 "elements are updated."
 msgstr ""
 
-#: of
-#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1:<autosummary>:1
-msgid ""
-":py:obj:`__new__ "
-"<omni.isaac.lab.sim.SimulationContext.RenderMode.__new__>`\\ \\(value\\)"
-msgstr ""
-
 #: of omni.isaac.lab.sim.simulation_context.SimulationContext.__init__
 #: omni.isaac.lab.sim.simulation_context.SimulationContext.get_setting
 #: omni.isaac.lab.sim.simulation_context.SimulationContext.render
@@ -2045,3 +2037,9 @@ msgstr ""
 msgid "If the prim at the specified path is not valid."
 msgstr ""
 
+#~ msgid ""
+#~ ":py:obj:`__new__ "
+#~ "<omni.isaac.lab.sim.SimulationContext.RenderMode.__new__>`\\ "
+#~ "\\(value\\)"
+#~ msgstr ""
+