Adds mimic extension and recorder manager to API docs (#217)

# Description

Adds Isaac Lab Mimic and Recorder Manager to API docs


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## Type of change

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- This change requires a documentation update

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## 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

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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: nv-cupright <92540563+nv-cupright@users.noreply.github.com>
Co-authored-by: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Karsten Patzwaldt <kpatzwaldt@nvidia.com>

docs/source/api/index.rst

@@ -59,3 +59,17 @@ The following wrappers are available in the ``isaaclab_rl`` extension:
 
 .. autosummary::
    :toctree: lab_rl
+
+
+isaaclab_mimic extension
+------------------------
+
+The following modules are available in the ``isaaclab_mimic`` extension:
+
+.. currentmodule:: isaaclab_mimic
+
+.. autosummary::
+   :toctree: lab_mimic
+
+   datagen
+   envs

docs/source/api/lab/isaaclab.envs.rst

@@ -22,6 +22,8 @@
     DirectRLEnvCfg
     DirectMARLEnv
     DirectMARLEnvCfg
+    ManagerBasedRLMimicEnv
+    MimicEnvCfg
     ViewerCfg
 
 Manager Based Environment
@@ -76,6 +78,20 @@ Direct Multi-Agent RL Environment
     :show-inheritance:
     :exclude-members: __init__, class_type
 
+Mimic Environment
+-----------------
+
+.. autoclass:: ManagerBasedRLMimicEnv
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: MimicEnvCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
 Common
 ------
 

docs/source/api/lab/isaaclab.managers.rst

@@ -28,6 +28,8 @@
     TerminationTermCfg
     CurriculumManager
     CurriculumTermCfg
+    RecorderManager
+    RecorderTermCfg
 
 Scene Entity
 ------------
@@ -144,3 +146,15 @@ Curriculum Manager
 .. autoclass:: CurriculumTermCfg
     :members:
     :exclude-members: __init__
+
+Recorder Manager
+----------------
+
+.. autoclass:: RecorderManager
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: RecorderTermCfg
+    :members:
+    :exclude-members: __init__

docs/source/api/lab_mimic/isaaclab_mimic.datagen.rst

+isaaclab_mimic.datagen
+======================
+
+.. automodule:: isaaclab_mimic.datagen
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    DataGenerator
+    DatagenInfo
+    DataGenInfoPool
+    SelectionStrategy
+    RandomStrategy
+    NearestNeighborObjectStrategy
+    NearestNeighborRobotDistanceStrategy
+    Waypoint
+    WaypointSequence
+    WaypointTrajectory
+
+Data Generator
+--------------
+
+.. autoclass:: DataGenerator
+  :members:
+  :inherited-members:
+
+Datagen Info
+------------
+
+.. autoclass:: DatagenInfo
+  :members:
+  :inherited-members:
+
+Datagen Info Pool
+-----------------
+
+.. autoclass:: DataGenInfoPool
+  :members:
+  :inherited-members:
+
+Selection Strategy
+------------------
+
+.. autoclass:: SelectionStrategy
+  :members:
+  :inherited-members:
+
+Random Strategy
+---------------
+
+.. autoclass:: RandomStrategy
+  :members:
+  :inherited-members:
+
+Nearest Neighbor Object Strategy
+--------------------------------
+
+.. autoclass:: NearestNeighborObjectStrategy
+  :members:
+  :inherited-members:
+
+Nearest Neighbor Robot Distance Strategy
+----------------------------------------
+
+.. autoclass:: NearestNeighborRobotDistanceStrategy
+  :members:
+  :inherited-members:
+
+Waypoint
+--------
+
+.. autoclass:: Waypoint
+  :members:
+  :inherited-members:
+
+Waypoint Sequence
+-----------------
+
+.. autoclass:: WaypointSequence
+  :members:
+  :inherited-members:
+
+Waypoint Trajectory
+-------------------
+
+.. autoclass:: WaypointTrajectory
+  :members:
+  :inherited-members:

docs/source/api/lab_mimic/isaaclab_mimic.envs.rst

+isaaclab_mimic.envs
+===================
+
+.. automodule:: isaaclab_mimic.envs
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    FrankaCubeStackIKRelMimicEnv
+    FrankaCubeStackIKRelMimicEnvCfg
+
+Franka Cube Stack IK Rel Mimic Env
+----------------------------------
+
+.. autoclass:: FrankaCubeStackIKRelMimicEnv
+  :members:
+  :inherited-members:
+
+Franka Cube Stack IK Rel Mimic Env Cfg
+--------------------------------------
+
+.. autoclass:: FrankaCubeStackIKRelMimicEnvCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:

docs/source/overview/teleop_imitation.rst

@@ -163,7 +163,7 @@ Creating Your Own Isaac Lab Mimic Compatible Environments
 In order to use Isaac Lab Mimic to generate additional demonstrations automatically with an existing Isaac Lab environment, the environment
 needs to be made "Mimic compatible" by implementing additional functions which are used during data generation.
 
-Mimic compatible environments are derived from the ``ManagerBasedRLMimicEnv`` base class and must implement the following functions:
+Mimic compatible environments are derived from the :class:`~isaaclab.envs.ManagerBasedRLMimicEnv` base class and must implement the following functions:
 
 * ``get_robot_eef_pose``: Returns the current robot end effector pose in the same frame as used by the robot end effector controller.
 
@@ -179,13 +179,11 @@ Mimic compatible environments are derived from the ``ManagerBasedRLMimicEnv`` ba
 
 * ``is_success``: Returns a boolean indicator of whether the task has been successfully completed.
 
-The class ``FrankaCubeStackIKRelMimicEnv`` shows an example of creating a Mimic compatible environment from an existing Isaac Lab environment.
-It can be found under ``source/isaaclab_mimic/isaaclab_mimic/envs``.
+The class :class:`~isaaclab_mimic.envs.FrankaCubeStackIKRelMimicEnv` shows an example of creating a Mimic compatible environment from an existing Isaac Lab environment.
 
 A Mimic compatible environment config class must also be created by extending the existing environment config with additional Mimic required parameters.
-All Mimic required config parameters are specified in the ``MimicEnvCfg`` class found under ``source/isaaclab/isaaclab/envs``.
-The config class ``FrankaCubeStackIKRelMimicEnvCfg`` shows an example of creating a Mimic compatible environment config class for the Franka stacking task
-and can be found under ``source/isaaclab_mimic/isaaclab_mimic/envs``.
+All Mimic required config parameters are specified in the :class:`~isaaclab.envs.MimicEnvCfg` class.
+The config class :class:`~isaaclab_mimic.envs.FrankaCubeStackIKRelMimicEnvCfg` shows an example of creating a Mimic compatible environment config class for the Franka stacking task.
 
 Once both Mimic compatible environment and environment config classes have been created, a new Mimic compatible environment can be registered using ``gym.register`` and used
 with Isaac Lab Mimic data generation. For the Franka stacking task in the examples above, the Mimic environment is registered as ``Isaac-Stack-Cube-Franka-IK-Rel-Mimic-v0``.

source/isaaclab_mimic/isaaclab_mimic/__init__.py

@@ -3,4 +3,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
+"""Package containing implementation of Isaac Lab Mimic data generation."""
+
 __version__ = "1.0.0"

source/isaaclab_mimic/isaaclab_mimic/datagen/__init__.py

@@ -2,3 +2,11 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: Apache-2.0
+
+"""Sub-package with core implementation logic for Isaac Lab Mimic."""
+
+from .data_generator import *
+from .datagen_info import *
+from .datagen_info_pool import *
+from .selection_strategy import *
+from .waypoint import *

source/isaaclab_mimic/isaaclab_mimic/envs/__init__.py

@@ -3,6 +3,8 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
+"""Sub-package with environment wrappers for Isaac Lab Mimic."""
+
 import gymnasium as gym
 
 from .franka_stack_ik_rel_mimic_env import FrankaCubeStackIKRelMimicEnv

source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_mimic_env.py

@@ -12,6 +12,9 @@ from isaaclab_tasks.manager_based.manipulation.stack.mdp import cubes_stacked
 
 
 class FrankaCubeStackIKRelMimicEnv(ManagerBasedRLMimicEnv):
+    """
+    Isaac Lab Mimic environment wrapper class for Franka Cube Stack IK Rel env.
+    """
 
     def get_robot_eef_pose(self, env_ind=0):
         """

source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_mimic_env_cfg.py

@@ -11,6 +11,9 @@ from isaaclab_tasks.manager_based.manipulation.stack.config.franka.stack_ik_rel_
 
 @configclass
 class FrankaCubeStackIKRelMimicEnvCfg(FrankaCubeStackEnvCfg, MimicEnvCfg):
+    """
+    Isaac Lab Mimic environment config class for Franka Cube Stack IK Rel env.
+    """
 
     def __post_init__(self):
         # post init of parents