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fan-ziqi · Oct 6, 2024 · fb67490 · fb67490
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diff --git a/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.html b/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.html
diff --git a/_modules/omni/isaac/lab_tasks/utils/wrappers/sb3.html b/_modules/omni/isaac/lab_tasks/utils/wrappers/sb3.html
diff --git a/_modules/omni/isaac/lab_tasks/utils/wrappers/skrl.html b/_modules/omni/isaac/lab_tasks/utils/wrappers/skrl.html
diff --git a/_sources/index.rst b/_sources/index.rst
@@ -0,0 +1,158 @@
+Overview
+========
+
+.. figure:: source/_static/isaaclab.jpg
+   :width: 100%
+   :alt: H1 Humanoid example using Isaac Lab
+
+
+**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.html>`_ 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
+`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:
+
+- **Modularity**: Easily customize and add new environments, robots, and sensors.
+- **Agility**: Adapt to the changing needs of the community.
+- **Openness**: Remain open-sourced to allow the community to contribute and extend the framework.
+- **Battery-included**: Include a number of environments, sensors, and tasks that are ready to use.
+
+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.
+
+Additionally, Isaac Lab provides over 26 environments, and we are actively working on adding more environments
+to the list. These include classic control tasks, fixed-arm and dexterous manipulation tasks, legged locomotion tasks,
+and navigation tasks. A complete list is available in the `environments <source/overview/environments>`_ section.
+
+The framework also includes over 16 robots. If you are looking to add a new robot, please refer to the
+:ref:`how-to` section. The current list of robots includes:
+
+- **Classic** Cartpole, Humanoid, Ant
+- **Fixed-Arm and Hands**: UR10, Franka, Allegro, Shadow Hand
+- **Quadrupeds**: Anybotics Anymal-B, Anymal-C, Anymal-D, Unitree A1, Unitree Go1, Unitree Go2, Boston Dynamics Spot
+- **Humanoids**: Unitree H1, Unitree G1
+- **Quadcopter**: Crazyflie
+
+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.
+
+.. figure:: source/_static/tasks.jpg
+   :width: 100%
+   :alt: Example tasks created using Isaac Lab
+
+
+License
+=======
+
+The Isaac Lab framework is open-sourced under the BSD-3-Clause license.
+Please refer to :ref:`license` for more details.
+
+Acknowledgement
+===============
+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:
+
+.. code:: bibtex
+
+   @article{mittal2023orbit,
+      author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
+      journal={IEEE Robotics and Automation Letters},
+      title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
+      year={2023},
+      volume={8},
+      number={6},
+      pages={3740-3747},
+      doi={10.1109/LRA.2023.3270034}
+   }
+
+
+Table of Contents
+=================
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Getting Started
+
+   source/setup/translation
+   source/setup/installation/index
+   source/setup/faq
+
+.. toctree::
+   :maxdepth: 3
+   :caption: Overview
+   :titlesonly:
+
+   source/overview/developer-guide/index
+   source/overview/core-concepts/index
+   source/overview/environments
+   source/overview/reinforcement-learning/index
+   source/overview/teleop_imitation
+   source/overview/showroom
+   source/overview/simple_agents
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Features
+
+   source/features/hydra
+   source/features/multi_gpu
+   source/features/tiled_rendering
+   source/features/reproducibility
+   .. source/features/motion_generators
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Resources
+   :titlesonly:
+
+   source/tutorials/index
+   source/how-to/index
+   source/deployment/index
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Migration Guides
+   :titlesonly:
+
+   source/migration/migrating_from_isaacgymenvs
+   source/migration/migrating_from_omniisaacgymenvs
+   source/migration/migrating_from_orbit
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Source API
+
+   source/api/index
+
+.. toctree::
+   :maxdepth: 1
+   :caption: References
+
+   source/refs/additional_resources
+   source/refs/contributing
+   source/refs/troubleshooting
+   source/refs/issues
+   source/refs/changelog
+   source/refs/license
+   source/refs/bibliography
+
+.. toctree::
+    :hidden:
+    :caption: Project Links
+
+    GitHub <https://github.com/isaac-sim/IsaacLab>
+    NVIDIA Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/index.html>
+    NVIDIA PhysX <https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html>
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
+
+.. _NVIDIA Isaac Sim: https://docs.omniverse.nvidia.com/isaacsim/latest/index.html
diff --git a/_sources/source/api/index.rst b/_sources/source/api/index.rst
@@ -0,0 +1,57 @@
+API Reference
+=============
+
+This page gives an overview of all the modules and classes in the Isaac Lab extensions.
+
+omni.isaac.lab extension
+------------------------
+
+The following modules are available in the ``omni.isaac.lab`` extension:
+
+.. currentmodule:: omni.isaac.lab
+
+.. autosummary::
+   :toctree: lab
+
+   app
+   actuators
+   assets
+   controllers
+   devices
+   envs
+   managers
+   markers
+   scene
+   sensors
+   sim
+   terrains
+   utils
+
+.. toctree::
+   :hidden:
+
+   lab/omni.isaac.lab.envs.mdp
+   lab/omni.isaac.lab.envs.ui
+   lab/omni.isaac.lab.sensors.patterns
+   lab/omni.isaac.lab.sim.converters
+   lab/omni.isaac.lab.sim.schemas
+   lab/omni.isaac.lab.sim.spawners
+
+omni.isaac.lab_tasks extension
+--------------------------------
+
+The following modules are available in the ``omni.isaac.lab_tasks`` extension:
+
+.. currentmodule:: omni.isaac.lab_tasks
+
+.. autosummary::
+   :toctree: lab_tasks
+
+   utils
+
+
+.. toctree::
+   :hidden:
+
+   lab_tasks/omni.isaac.lab_tasks.utils.wrappers
+   lab_tasks/omni.isaac.lab_tasks.utils.data_collector
diff --git a/_sources/source/api/lab/omni.isaac.lab.actuators.rst b/_sources/source/api/lab/omni.isaac.lab.actuators.rst
@@ -0,0 +1,135 @@
+omni.isaac.lab.actuators
+========================
+
+.. automodule:: omni.isaac.lab.actuators
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    ActuatorBase
+    ActuatorBaseCfg
+    ImplicitActuator
+    ImplicitActuatorCfg
+    IdealPDActuator
+    IdealPDActuatorCfg
+    DCMotor
+    DCMotorCfg
+    DelayedPDActuator
+    DelayedPDActuatorCfg
+    RemotizedPDActuator
+    RemotizedPDActuatorCfg
+    ActuatorNetMLP
+    ActuatorNetMLPCfg
+    ActuatorNetLSTM
+    ActuatorNetLSTMCfg
+
+Actuator Base
+-------------
+
+.. autoclass:: ActuatorBase
+  :members:
+  :inherited-members:
+
+.. autoclass:: ActuatorBaseCfg
+  :members:
+  :inherited-members:
+  :exclude-members: __init__, class_type
+
+Implicit Actuator
+-----------------
+
+.. autoclass:: ImplicitActuator
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: ImplicitActuatorCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
+
+Ideal PD Actuator
+-----------------
+
+.. autoclass:: IdealPDActuator
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: IdealPDActuatorCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
+
+DC Motor Actuator
+-----------------
+
+.. autoclass:: DCMotor
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: DCMotorCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
+
+Delayed PD Actuator
+-------------------
+
+.. autoclass:: DelayedPDActuator
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: DelayedPDActuatorCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
+
+Remotized PD Actuator
+---------------------
+
+.. autoclass:: RemotizedPDActuator
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: RemotizedPDActuatorCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
+
+MLP Network Actuator
+---------------------
+
+.. autoclass:: ActuatorNetMLP
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: ActuatorNetMLPCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
+
+LSTM Network Actuator
+---------------------
+
+.. autoclass:: ActuatorNetLSTM
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: ActuatorNetLSTMCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type