Updates Mimic documentation (#470)

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

Link:
https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html
-->

Update the Mimic docs:

1. Use cpu device for Franka demos to align it with humanoid demos
2. Remove warning message in Demo 1 of the docs which have been fixed.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Doc update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

docs/source/overview/teleop_imitation.rst

@@ -106,9 +106,9 @@ To collect demonstrations with teleoperation for the environment ``Isaac-Stack-C
    mkdir -p datasets
    # step b: collect data with a selected teleoperation device. Replace <teleop_device> with your preferred input device.
    # Available options: spacemouse, keyboard, handtracking
-   ./isaaclab.sh -p scripts/tools/record_demos.py --task Isaac-Stack-Cube-Franka-IK-Rel-v0 --teleop_device <teleop_device> --dataset_file ./datasets/dataset.hdf5 --num_demos 10
+   ./isaaclab.sh -p scripts/tools/record_demos.py --task Isaac-Stack-Cube-Franka-IK-Rel-v0 --device cpu --teleop_device <teleop_device> --dataset_file ./datasets/dataset.hdf5 --num_demos 10
    # step a: replay the collected dataset
-   ./isaaclab.sh -p scripts/tools/replay_demos.py --task Isaac-Stack-Cube-Franka-IK-Rel-v0 --dataset_file ./datasets/dataset.hdf5
+   ./isaaclab.sh -p scripts/tools/replay_demos.py --task Isaac-Stack-Cube-Franka-IK-Rel-v0 --device cpu --dataset_file ./datasets/dataset.hdf5
 
 
 .. note::
@@ -167,7 +167,7 @@ In order to use Isaac Lab Mimic with the recorded dataset, first annotate the su
       .. code:: bash
 
          ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/annotate_demos.py \
-         --device cuda --task Isaac-Stack-Cube-Franka-IK-Rel-Mimic-v0 --auto \
+         --device cpu --task Isaac-Stack-Cube-Franka-IK-Rel-Mimic-v0 --auto \
          --input_file ./datasets/dataset.hdf5 --output_file ./datasets/annotated_dataset.hdf5
 
    .. tab-item:: Visuomotor policy
@@ -176,7 +176,7 @@ In order to use Isaac Lab Mimic with the recorded dataset, first annotate the su
       .. code:: bash
 
          ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/annotate_demos.py \
-         --device cuda --enable_cameras --task Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-Mimic-v0 --auto \
+         --device cpu --enable_cameras --task Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-Mimic-v0 --auto \
          --input_file ./datasets/dataset.hdf5 --output_file ./datasets/annotated_dataset.hdf5
 
 
@@ -191,7 +191,7 @@ Then, use Isaac Lab Mimic to generate some additional demonstrations:
       .. code:: bash
 
          ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/generate_dataset.py \
-         --device cuda --num_envs 10 --generation_num_trials 10 \
+         --device cpu --num_envs 10 --generation_num_trials 10 \
          --input_file ./datasets/annotated_dataset.hdf5 --output_file ./datasets/generated_dataset_small.hdf5
 
    .. tab-item:: Visuomotor policy
@@ -200,7 +200,7 @@ Then, use Isaac Lab Mimic to generate some additional demonstrations:
       .. code:: bash
 
          ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/generate_dataset.py \
-         --device cuda --enable_cameras --num_envs 10 --generation_num_trials 10 \
+         --device cpu --enable_cameras --num_envs 10 --generation_num_trials 10 \
          --input_file ./datasets/annotated_dataset.hdf5 --output_file ./datasets/generated_dataset_small.hdf5
 
 .. note::
@@ -218,7 +218,7 @@ Inspect the output of generated data (filename: ``generated_dataset_small.hdf5``
       .. code:: bash
 
          ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/generate_dataset.py \
-         --device cuda --headless --num_envs 10 --generation_num_trials 1000 \
+         --device cpu --headless --num_envs 10 --generation_num_trials 1000 \
          --input_file ./datasets/annotated_dataset.hdf5 --output_file ./datasets/generated_dataset.hdf5
 
    .. tab-item:: Visuomotor policy
@@ -227,7 +227,7 @@ Inspect the output of generated data (filename: ``generated_dataset_small.hdf5``
       .. code:: bash
 
          ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/generate_dataset.py \
-         --device cuda --enable_cameras --headless --num_envs 10 --generation_num_trials 1000 \
+         --device cpu --enable_cameras --headless --num_envs 10 --generation_num_trials 1000 \
          --input_file ./datasets/annotated_dataset.hdf5 --output_file ./datasets/generated_dataset.hdf5
 
 
@@ -294,7 +294,7 @@ By inferencing using the generated model, we can visualize the results of the po
       .. code:: bash
 
          ./isaaclab.sh -p scripts/imitation_learning/robomimic/play.py \
-         --device cuda --task Isaac-Stack-Cube-Franka-IK-Rel-v0 --num_rollouts 50 \
+         --device cpu --task Isaac-Stack-Cube-Franka-IK-Rel-v0 --num_rollouts 50 \
          --checkpoint /PATH/TO/desired_model_checkpoint.pth
 
    .. tab-item:: Visuomotor policy
@@ -303,7 +303,7 @@ By inferencing using the generated model, we can visualize the results of the po
       .. code:: bash
 
          ./isaaclab.sh -p scripts/imitation_learning/robomimic/play.py \
-         --device cuda --enable_cameras --task Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0 --num_rollouts 50 \
+         --device cpu --enable_cameras --task Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0 --num_rollouts 50 \
          --checkpoint /PATH/TO/desired_model_checkpoint.pth
 
 
@@ -382,21 +382,6 @@ Collect five demonstrations by running the following command:
 
    The robot uses simplified collision meshes for physics calculations that differ from the detailed visual meshes displayed in the simulation. Due to this difference, you may occasionally observe visual artifacts where parts of the robot appear to penetrate other objects or itself, even though proper collision handling is occurring in the physics simulation.
 
-.. warning::
-   When first starting the simulation window, you may encounter the following ``DeprecationWarning`` and ``UserWarning`` error:
-
-   .. code-block:: text
-
-      DeprecationWarning: get_prim_path is deprecated and will be removed
-      in a future release. Use get_path.
-      UserWarning: Sum of faceVertexCounts (25608) does not equal sum of
-      length of GeomSubset indices (840) for prim
-      '/GR1T2_fourier_hand_6dof/waist_pitch_link/visuals/waist_pitch_link/mesh'.
-      Material mtl files will not be created.
-
-   This error can be ignored and will not affect the data collection process.
-   The error will be patched in a future release of Isaac Sim.
-
 You can replay the collected demonstrations by running the following command:
 
 .. code:: bash