docs: auto translate

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

@@ -0,0 +1,86 @@
+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/_build/html/*
+        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

docker/.env.base

@@ -17,6 +17,9 @@ DOCKER_USER_HOME=/root
 # Cluster specific settings
 ###
 
+# Job scheduler used by cluster.
+# Currently supports PBS and SLURM
+CLUSTER_JOB_SCHEDULER=SLURM
 # Docker cache dir for Isaac Sim (has to end on docker-isaac-sim)
 # e.g. /cluster/scratch/$USER/docker-isaac-sim
 CLUSTER_ISAAC_SIM_CACHE_DIR=/some/path/on/cluster/docker-isaac-sim

docker/cluster/submit_job_pbs.sh

@@ -0,0 +1,23 @@
+#!/usr/bin/env bash
+
+# in the case you need to load specific modules on the cluster, add them here
+# e.g., `module load eth_proxy`
+
+# create job script with compute demands
+### MODIFY HERE FOR YOUR JOB ###
+cat <<EOT > job.sh
+#!/bin/bash
+
+#PBS -l select=1:ncpus=8:mpiprocs=1:ngpus=1
+#PBS -l walltime=01:00:00
+#PBS -j oe
+#PBS -q gpu
+#PBS -N isaaclab
+#PBS -m bea -M "user@mail"
+
+# Pass the container profile first to run_singularity.sh, then all arguments intended for the executed script
+sh "$1/docker/cluster/run_singularity.sh" "$2" "${@:3}"
+EOT
+
+qsub job.sh
+rm job.sh

docker/container.sh

@@ -231,6 +231,28 @@ x11_cleanup() {
     fi
 }
 
+submit_job() {
+
+    echo "[INFO] Arguments passed to job script ${@}"
+
+    case $CLUSTER_JOB_SCHEDULER in
+        "SLURM")
+            CMD=sbatch
+            job_script_file=submit_job_slurm.sh
+            ;;
+        "PBS")
+            CMD=bash
+            job_script_file=submit_job_pbs.sh
+            ;;
+        *)
+            echo "[ERROR] Unsupported job scheduler specified: '$CLUSTER_JOB_SCHEDULER'. Supported options are: ['SLURM', 'PBS']"
+            exit 1
+            ;;
+    esac
+
+    ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && $CMD $CLUSTER_ISAACLAB_DIR/docker/cluster/$job_script_file \"$CLUSTER_ISAACLAB_DIR\" \"isaac-lab-$container_profile\" ${@}"
+}
+
 #==
 # Main
 #==
@@ -372,12 +394,10 @@ case $mode in
         # check whether the second argument is a profile or a job argument
         if [ "$profile_arg" == "$container_profile" ] ; then
             # if the second argument is a profile, we have to shift the arguments
-            echo "[INFO] Arguments passed to job script ${@:3}"
-            ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && sbatch $CLUSTER_ISAACLAB_DIR/docker/cluster/submit_job.sh" "$CLUSTER_ISAACLAB_DIR" "isaac-lab-$container_profile" "${@:3}"
+            submit_job "${@:3}"
         else
             # if the second argument is a job argument, we have to shift only one argument
-            echo "[INFO] Arguments passed to job script ${@:2}"
-            ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && sbatch $CLUSTER_ISAACLAB_DIR/docker/cluster/submit_job.sh" "$CLUSTER_ISAACLAB_DIR" "isaac-lab-$container_profile" "${@:2}"
+            submit_job "${@:2}"
         fi
         ;;
     config)

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'});
+});