docs: update 20240928

.github/workflows/docs.yaml

@@ -3,10 +3,24 @@ name: Build & deploy docs
 on: [push]
 
 jobs:
+  check-secrets:
+    name: Check secrets
+    runs-on: ubuntu-latest
+    outputs:
+      trigger-build: ${{ steps.trigger-build.outputs.defined }}
+    steps:
+      - id: trigger-build
+        env:
+          REPO_NAME: ${{ secrets.REPO_NAME }}
+          BRANCH_REF: ${{ secrets.BRANCH_REF }}
+        if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
+        run: echo "defined=true" >> "$GITHUB_OUTPUT"
+
   build-docs:
     name: Build and deploy documentation
     runs-on: ubuntu-latest
-    if: github.repository == 'isaac-sim/IsaacLab' && github.ref == 'refs/heads/main'
+    needs: [check-secrets]
+    if: needs.check-secrets.outputs.trigger-build == 'true'
 
     steps:
     - name: Checkout code

.github/workflows/postmerge-ci-buildspec.yml

@@ -5,8 +5,8 @@ phases:
     commands:
       - echo "Building a docker image"
       - docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
-      - docker build -t $IMAGE_NAME:latest-1.1 --build-arg ISAACSIM_VERSION_ARG=4.1.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base .
+      - docker build -t $IMAGE_NAME:latest-1.2 --build-arg ISAACSIM_VERSION_ARG=4.2.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base .
       - echo "Pushing the docker image"
-      - docker push $IMAGE_NAME:latest-1.1
-      - docker tag $IMAGE_NAME:latest-1.1 $IMAGE_NAME:latest-1.1-b$CODEBUILD_BUILD_NUMBER
-      - docker push $IMAGE_NAME:latest-1.1-b$CODEBUILD_BUILD_NUMBER
+      - docker push $IMAGE_NAME:latest-1.2
+      - docker tag $IMAGE_NAME:latest-1.2 $IMAGE_NAME:latest-1.2-b$CODEBUILD_BUILD_NUMBER
+      - docker push $IMAGE_NAME:latest-1.2-b$CODEBUILD_BUILD_NUMBER

.github/workflows/premerge-ci-buildspec.yml

@@ -4,7 +4,7 @@ phases:
   pre_build:
     commands:
       - echo "Launching EC2 instance to run tests"
-      - INSTANCE_ID=$(aws ec2 run-instances --image-id ami-05c519412a83cc291 --count 1 --instance-type g5.2xlarge --key-name production/ssh/isaaclab --security-group-ids sg-02617e4b8916794c4 --subnet-id subnet-0907ceaeb40fd9eac --block-device-mappings 'DeviceName=/dev/sda1,Ebs={VolumeSize=500}' --output text --query 'Instances[0].InstanceId')
+      - INSTANCE_ID=$(aws ec2 run-instances --image-id ami-0f7f7fb14ee15d5ae --count 1 --instance-type g5.2xlarge --key-name production/ssh/isaaclab --security-group-ids sg-02617e4b8916794c4 --subnet-id subnet-0907ceaeb40fd9eac --block-device-mappings 'DeviceName=/dev/sda1,Ebs={VolumeSize=500}' --output text --query 'Instances[0].InstanceId')
       - aws ec2 wait instance-running --instance-ids $INSTANCE_ID
       - EC2_INSTANCE_IP=$(aws ec2 describe-instances --filters "Name=instance-state-name,Values=running" "Name=instance-id,Values=$INSTANCE_ID" --query 'Reservations[*].Instances[*].[PrivateIpAddress]' --output text)
       - mkdir -p ~/.ssh
@@ -16,31 +16,32 @@ phases:
   build:
     commands:
       - echo "Running tests on EC2 instance"
+      - SRC_DIR=$(basename $CODEBUILD_SRC_DIR)
       - cd ..
       - |
         bash -c '
         function retry_scp() {
           local retries=5
-          local wait_time=10
+          local wait_time=30
           local count=0
           while [ $count -lt $retries ]; do
-            scp -r IsaacLab ubuntu@$EC2_INSTANCE_IP:~
+            sleep $wait_time
+            scp -r $SRC_DIR ubuntu@$EC2_INSTANCE_IP:~
             if [ $? -eq 0 ]; then
               echo "SCP command succeeded"
               return 0
             fi
             count=$((count + 1))
             echo "SCP command failed. Retrying in $wait_time seconds..."
-            sleep $wait_time
           done
           echo "SCP command failed after $retries attempts."
           return 1
         }
         retry_scp
         '
       - ssh ubuntu@$EC2_INSTANCE_IP "docker login -u \\\$oauthtoken -p $NGC_TOKEN nvcr.io"
-      - ssh ubuntu@$EC2_INSTANCE_IP "cd IsaacLab;
-          docker build -t isaac-lab-dev --build-arg ISAACSIM_VERSION_ARG=4.1.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base . ;
+      - ssh ubuntu@$EC2_INSTANCE_IP "cd $SRC_DIR;
+          DOCKER_BUILDKIT=1 docker build -t isaac-lab-dev --build-arg ISAACSIM_VERSION_ARG=4.2.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base . ;
           docker run --rm --entrypoint bash --gpus all --network=host --name isaac-lab-test isaac-lab-dev ./isaaclab.sh -t &&
           exit $?"
   post_build:

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

@@ -58,7 +58,7 @@ jobs:
     - name: Translate using custom script
       run: |
         pushd docs
-        python po_translator.py --folder ./locale --lang zh_CN --folder-language
+        python po_translator.py --folder ./locale --lang zh_CN --folder-language --bulk --fuzzy
         popd
 
     - name: Build HTML with translations

docker/.env.base

@@ -4,8 +4,8 @@
 
 # Accept the NVIDIA Omniverse EULA by default
 ACCEPT_EULA=Y
-# NVIDIA Isaac Sim version to use (e.g. 4.1.0)
-ISAACSIM_VERSION=4.1.0
+# NVIDIA Isaac Sim version to use (e.g. 4.2.0)
+ISAACSIM_VERSION=4.2.0
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
 # The Isaac Lab path in the container

docs/locale/zh_CN/LC_MESSAGES/index.po

@@ -224,6 +224,3 @@ msgstr ":ref:`modindex`"
 #: ../../index.rst:156
 msgid ":ref:`search`"
 msgstr ":ref:`search`"
-
-#~ msgid "** 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 **"
-#~ msgstr "** 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 **"

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: 2024-09-27 13:04+0000\n"
+"POT-Creation-Date: 2024-09-27 20:01+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
@@ -2062,4 +2054,3 @@ msgstr ""
 #: of omni.isaac.lab.sim.utils.select_usd_variants:40
 msgid "If the prim at the specified path is not valid."
 msgstr ""
-

docs/locale/zh_CN/LC_MESSAGES/source/features/hydra.po

@@ -44,8 +44,8 @@ msgid ""
 msgstr ""
 "环境的任何参数都可以通过在命令行输入中添加一个或多个形式为 ``env.a.b.param1=value`` 的元素来修改，其中 "
 "``a.b.param1`` 反映了参数的层次结构，例如 "
-"``env.actions.joint_effort.scale=10.0``。类似地，代理的参数可以通过使用 ``agent`` 前缀来修改，例如 "
-"``agent.seed=2024``。"
+"``env.actions.joint_effort.scale=10.0`` 。类似地，智能体的参数可以通过使用 ``agent`` 前缀来修改，例如 "
+"``agent.seed=2024`` 。"
 
 #: ../../source/features/hydra.rst:13
 msgid ""

docs/locale/zh_CN/LC_MESSAGES/source/features/reproducibility.po

@@ -61,7 +61,7 @@ msgid ""
 ":attr:`omni.isaac.lab.envs.DirectRLEnvCfg.seed` depending on the manager-"
 "based or direct environment implementation respectively."
 msgstr ""
-"在包含的工作流脚本中，使用在学习代理配置文件或命令行参数中指定的种子来设置环境的随机种子。这样可以确保模拟结果在不同运行中是可重现的。种子被设置为环境参数"
+"在包含的工作流脚本中，使用在学习智能体配置文件或命令行参数中指定的种子来设置环境的随机种子。这样可以确保模拟结果在不同运行中是可重现的。种子被设置为环境参数"
 " :attr:`omni.isaac.lab.envs.ManagerBasedEnvCfg.seed` 或 "
 ":attr:`omni.isaac.lab.envs.DirectRLEnvCfg.seed`，取决于基于管理器或直接环境的实现。"
 

docs/locale/zh_CN/LC_MESSAGES/source/features/tiled_rendering.po

@@ -89,7 +89,7 @@ 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

docs/locale/zh_CN/LC_MESSAGES/source/how-to/add_own_library.po

@@ -143,7 +143,7 @@ msgid ""
 "``source/standalone/workflows`` directory for examples. You can create new "
 "workflow scripts for your library and add them to the directory."
 msgstr ""
-"为您的库创建工作流脚本以训练和评估代理程序。您可以在 ``source/standalone/workflows`` "
+"为您的库创建工作流脚本以训练和评估智能体程序。您可以在 ``source/standalone/workflows`` "
 "目录中查看现有的工作流脚本示例。您可以为您的库创建新的工作流脚本，并将其添加到该目录。"
 
 #: ../../source/how-to/add_own_library.rst:83

docs/locale/zh_CN/LC_MESSAGES/source/how-to/estimate_how_many_cameras_can_run.po

@@ -21,7 +21,7 @@ msgstr ""
 
 #: ../../source/how-to/estimate_how_many_cameras_can_run.rst:5
 msgid "Find How Many/What Cameras You Should Train With"
-msgstr "找出你应该训练多少/使用哪些摄像头"
+msgstr "找出你应该用多少/什么相机训练"
 
 #: ../../source/how-to/estimate_how_many_cameras_can_run.rst:9
 msgid ""
@@ -163,15 +163,15 @@ msgstr ""
 msgid ""
 "If your system has a hard time handling the desired cameras, you can try the"
 " following"
-msgstr "如果您的系统无法处理所需的摄像头，您可以尝试以下操作`.TextField`。"
+msgstr "如果您的系统无法处理所需的摄像头，您可以尝试以下操作"
 
 #: ../../source/how-to/estimate_how_many_cameras_can_run.rst:112
 msgid "Switch to headless mode (supply ``--headless``)"
 msgstr "切换到无头模式（提供 ``--headless``）"
 
 #: ../../source/how-to/estimate_how_many_cameras_can_run.rst:113
 msgid "Ensure you are using the GPU pipeline not CPU!"
-msgstr "确保您正在使用GPU管线而不是CPU！"
+msgstr "确保您使用的是GPU pipeline，而不是CPU！"
 
 #: ../../source/how-to/estimate_how_many_cameras_can_run.rst:114
 msgid "If you aren't using Tiled Cameras, switch to Tiled Cameras"

docs/locale/zh_CN/LC_MESSAGES/source/overview/core-concepts/task_workflows.po

@@ -32,7 +32,7 @@ msgid ""
 "additional information such as the current reward, done flag, and "
 "information about the current episode."
 msgstr ""
-"环境定义了代理和仿真之间的接口。在最简单的情况下，环境为代理提供当前观察，并执行代理提供的动作。在马尔可夫决策过程（MDP）的制定中，环境还可以提供额外的信息，比如当前奖励、完成标志以及当前情节的信息。"
+"环境定义了智能体和仿真之间的接口。在最简单的情况下，环境为智能体提供当前观察，并执行智能体提供的动作。在马尔可夫决策过程（MDP）的制定中，环境还可以提供额外的信息，比如当前奖励、完成标志以及当前情节的信息。"
 
 #: ../../source/overview/core-concepts/task_workflows.rst:14
 msgid ""

docs/locale/zh_CN/LC_MESSAGES/source/overview/developer-guide/repo_structure.po

@@ -78,7 +78,7 @@ msgid ""
 "environments for Isaac Lab. It also includes wrappers for using these "
 "environments with different agents."
 msgstr ""
-"**omni.isaac.lab_tasks** ：包含了为 Isaac Lab 预配置环境的扩展。它还包括了使用这些环境与不同代理一起使用的包装器。"
+"**omni.isaac.lab_tasks** ：包含了为 Isaac Lab 预配置环境的扩展。它还包括了使用这些环境与不同智能体一起使用的包装器。"
 
 #: ../../source/overview/developer-guide/repo_structure.rst:57
 msgid "Standalone"
@@ -109,7 +109,7 @@ msgid ""
 "policy, zero-action policy, teleoperation or scripted state machines."
 msgstr ""
 "**环境** ：包含了使用 :mod:`omni.isaac.lab_tasks` "
-"中定义的环境与不同代理一起运行的应用程序。这包括随机策略、零动作策略、远程操作或脚本化状态机。"
+"中定义的环境与不同智能体一起运行的应用程序。这包括随机策略、零动作策略、远程操作或脚本化状态机。"
 
 #: ../../source/overview/developer-guide/repo_structure.rst:66
 msgid ""

docs/locale/zh_CN/LC_MESSAGES/source/overview/environments.po

@@ -50,7 +50,7 @@ msgstr "我们正在积极努力将更多的环境添加到列表中。如果您
 
 #: ../../source/overview/environments.rst:31
 msgid "Single-agent"
-msgstr "单一代理"
+msgstr "单一智能体"
 
 #: ../../source/overview/environments.rst:34
 #: ../../source/overview/environments.rst:290
@@ -107,7 +107,7 @@ msgstr "|humanoid-link|"
 
 #: ../../source/overview/environments.rst:46
 msgid "|humanoid-direct-link|"
-msgstr "|`humanoid-direct-link`|"
+msgstr "|humanoid-direct-link|"
 
 #: ../../source/overview/environments.rst:44
 msgid "Move towards a direction with the MuJoCo humanoid robot"
@@ -184,7 +184,7 @@ msgstr "操作臂"
 #: ../../source/overview/environments.rst:86
 #: ../../source/overview/environments.rst:308
 msgid "Environments based on fixed-arm manipulation tasks."
-msgstr "基于固定臂操作任务的环境。"
+msgstr "基于固定机械臂操作任务的环境。"
 
 #: ../../source/overview/environments.rst:88
 msgid ""
@@ -619,7 +619,7 @@ msgstr "在崎岖地形上追踪Unitree G1机器人的速度命令"
 
 #: ../../source/overview/environments.rst:245
 msgid "Navigation"
-msgstr "Navigation"
+msgstr "导航"
 
 #: ../../source/overview/environments.rst:253
 msgid "|anymal_c_nav|"

docs/locale/zh_CN/LC_MESSAGES/source/overview/reinforcement-learning/performance_benchmarks.po

@@ -70,7 +70,7 @@ msgstr "环境数量"
 
 #: ../../source/overview/reinforcement-learning/performance_benchmarks.rst:22
 msgid "RAM (GB)"
-msgstr "RAM (GB)"
+msgstr "内存 (GB)"
 
 #: ../../source/overview/reinforcement-learning/performance_benchmarks.rst:22
 msgid "VRAM (GB)"
@@ -203,11 +203,11 @@ msgstr "6.4"
 
 #: ../../source/overview/reinforcement-learning/performance_benchmarks.rst:48
 msgid "Single GPU - RTX 4090"
-msgstr "Single GPU - RTX 4090"
+msgstr "单 GPU - RTX 4090"
 
 #: ../../source/overview/reinforcement-learning/performance_benchmarks.rst:50
 msgid "CPU: AMD Ryzen 9 7950X 16-Core Processor"
-msgstr "CPU: AMD Ryzen 9 7950X 16-Core Processor"
+msgstr "CPU: AMD Ryzen 9 7950X 16核 处理器"
 
 #: ../../source/overview/reinforcement-learning/performance_benchmarks.rst:53
 #: ../../source/overview/reinforcement-learning/performance_benchmarks.rst:73
@@ -282,7 +282,7 @@ msgstr "170000"
 
 #: ../../source/overview/reinforcement-learning/performance_benchmarks.rst:68
 msgid "Single GPU - L40"
-msgstr "Single GPU - L40"
+msgstr "单 GPU - L40"
 
 #: ../../source/overview/reinforcement-learning/performance_benchmarks.rst:70
 #: ../../source/overview/reinforcement-learning/performance_benchmarks.rst:90
@@ -339,7 +339,7 @@ msgstr "120000"
 
 #: ../../source/overview/reinforcement-learning/performance_benchmarks.rst:88
 msgid "Single-Node, 4 x L40 GPUs"
-msgstr "Single-Node, 4 x L40 GPUs"
+msgstr "单节点, 4 x L40 GPUs"
 
 #: ../../source/overview/reinforcement-learning/performance_benchmarks.rst:97
 msgid "2700000"