Fixes rendering settings for Mimic Cosmos pipeline (#511)

# Description

Reverting the pipeline to use "performance" rendering mode but with
necessary changes to the rendering settings done in the custom env.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation 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
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

docs/source/overview/augmented_imitation.rst

@@ -24,7 +24,7 @@ In the following example, we will show you how to use Isaac Lab Mimic to generat
     --device cpu --enable_cameras --headless --num_envs 10 --generation_num_trials 1000 \
     --input_file ./datasets/annotated_dataset.hdf5 --output_file ./datasets/mimic_dataset_1k.hdf5 \
     --task Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-Cosmos-Mimic-v0 \
-    --rendering_mode balanced
+    --rendering_mode performance
 
 The number of demonstrations can be increased or decreased, 1000 demonstrations have been shown to provide good training results for this task.
 
@@ -386,7 +386,7 @@ Example usage for the cube stacking task:
     --enable_cameras \
     --seeds 0 \
     --num_rollouts 15 \
-    --rendering_mode balanced
+    --rendering_mode performance
 
 We use the above script to compare models trained with 1000 Mimic-generated demonstrations, 2000 Mimic-generated demonstrations and 2000 Cosmos-Mimic-generated demonstrations (1000 original mimic + 1000 Cosmos augmented) respectively. We use the same seeds (0, 1000 and 5000) for all three models and provide the metrics (averaged across best checkpoints for each seed) below:
 

source/isaaclab_tasks/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.40"
+version = "0.10.41"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.10.41 (2025-07-01)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the rendering settings used for the Mimic-Cosmos pipeline.
+
+
 0.10.40 (2025-06-26)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py

@@ -105,6 +105,12 @@ class FrankaCubeStackVisuomotorCosmosEnvCfg(stack_ik_rel_visuomotor_env_cfg.Fran
         # post init of parent
         super().__post_init__()
 
+        import carb
+        from isaacsim.core.utils.carb import set_carb_setting
+
+        carb_setting = carb.settings.get_settings()
+        set_carb_setting(carb_setting, "/rtx/domeLight/upperLowerStrategy", 4)
+
         SEMANTIC_MAPPING = {
             "class:cube_1": (120, 230, 255, 255),
             "class:cube_2": (255, 36, 66, 255),