Updates and fixes for documentation (#242)

This is a documentation only PR that fixes some minor grammar and
formatting errors, and some small updates.

docs/index.rst

@@ -7,7 +7,7 @@ Overview
 
 **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
+`NVIDIA Isaac Sim`_ to leverage the latest simulation capabilities for photo-realistic scenes as well as fast
 and efficient simulation.
 
 The core objectives of the framework are:
@@ -21,11 +21,11 @@ Key features available in Isaac Lab include fast and accurate physics simulation
 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
+Additionally, Isaac Lab provides a variety of 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
+The framework also includes a collection 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

docs/source/features/multi_gpu.rst

@@ -45,7 +45,7 @@ the skrl library provides a module to start them.
 
 |
 
-To train with multiple GPUs, use the following command, where ``--proc_per_node`` represents the number of available GPUs:
+To train with multiple GPUs, use the following command, where ``--nproc_per_node`` represents the number of available GPUs:
 
 .. tab-set::
     :sync-group: rl-train

docs/source/overview/developer-guide/repo_structure.rst

@@ -24,6 +24,7 @@ The Isaac Lab repository is structured as follows:
    │   ├── isaaclab_rl
    │   └── isaaclab_tasks
    ├── scripts
+   │   ├── benchmarks
    │   ├── demos
    │   ├── environments
    │   ├── imitation_learning
@@ -34,14 +35,15 @@ The Isaac Lab repository is structured as follows:
    └── VERSION
 
 The ``source`` directory contains the source code for all Isaac Lab *extensions*
-and *standalone applications*. The two are the different development workflows
+and the ``scripts`` directory contains the source code for all *standalone applications*.
+The two are the different development workflows
 supported in `Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_workflows.html>`__.
 
 
 Extensions
 ~~~~~~~~~~
 
-Extensions are modularized packages that formulate the Omniverse ecosystem. In Isaac Lab. these are written
+Extensions are modularized packages that formulate the Omniverse ecosystem. In Isaac Lab, these are written
 into the ``source`` directory. To simplify the build process, Isaac Lab directly use the
 `setuptools <https://setuptools.readthedocs.io/en/latest/>`__ python package to build the python module
 provided by the extensions. This is done by the ``setup.py`` file in the extension directory.

docs/source/overview/developer-guide/vs_code.rst

 Setting up Visual Studio Code
 -----------------------------
 
-The following is only applicable for Isaac Sim installed via the Omniverse Launcher.
+The following is only applicable for Isaac Sim installed from binary.
 The Isaac Lab repository includes the VSCode settings to easily allow setting
 up your development environment. These are included in the ``.vscode`` directory
 and include the following files:

docs/source/setup/installation/binaries_installation.rst

@@ -15,28 +15,38 @@ Please follow the Isaac Sim
 `documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html>`__
 to install the latest Isaac Sim release.
 
+From Isaac Sim 4.5 release, Isaac Sim binaries can be `downloaded <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/download.html#download-isaac-sim-short>`_ directly as a zip file.
+
 To check the minimum system requirements,refer to the documentation
 `here <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html>`__.
 
-.. note::
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. note::
+
          We have tested Isaac Lab with Isaac Sim 4.5 release on Ubuntu
          22.04LTS with NVIDIA driver 535.129.
 
          From Isaac Sim 4.5 release, Isaac Sim binaries can be downloaded directly as a zip file.
          The below steps assume the Isaac Sim folder was unzipped to the Downloads directory.
 
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
       On Linux systems, Isaac Sim directory will be named
       ``${HOME}/Downloads/isaac-sim-standalone@*``, with ``*`` corresponding to the Isaac Sim version.
 
    .. tab-item:: :icon:`fa-brands fa-windows` Windows
       :sync: windows
 
+      .. note::
+
+         We have tested Isaac Lab with Isaac Sim 4.5 release on Windows11 with NVIDIA driver 552.86.
+
+         From Isaac Sim 4.5 release, Isaac Sim binaries can be downloaded directly as a zip file.
+         The below steps assume the Isaac Sim folder was unzipped to the Downloads directory.
+
       On Windows systems, Isaac Sim directory will be named
       ``%USERPROFILE%/Downloads/isaac-sim-standalone@*``, with ``*`` corresponding to the Isaac Sim version.