Updates and improves on various missing documentation (#520)

## 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
- [X] 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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

docs/source/features/ray.rst

@@ -16,9 +16,7 @@ the general workflow is the same.
 
   This functionality is experimental, and has been tested only on Linux.
 
-.. contents:: Table of Contents
-  :depth: 3
-  :local:
+
 
 Overview
 --------

docs/source/how-to/import_new_asset.rst

@@ -80,10 +80,15 @@ pre-processed URDF and the original URDF are:
 
 The following shows the steps to clone the repository and run the converter:
 
-.. code-block:: bash
 
-  # create a directory to clone
-  mkdir ~/git && cd ~/git
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code-block:: bash
+
         # clone a repository with URDF files
         git clone git@github.com:isaac-orbit/anymal_d_simple_description.git
 
@@ -91,13 +96,31 @@ The following shows the steps to clone the repository and run the converter:
         cd IsaacLab
         # run the converter
         ./isaaclab.sh -p scripts/tools/convert_urdf.py \
-    ~/git/anymal_d_simple_description/urdf/anymal.urdf \
+          ../anymal_d_simple_description/urdf/anymal.urdf \
           source/isaaclab_assets/data/Robots/ANYbotics/anymal_d.usd \
           --merge-joints \
           --joint-stiffness 0.0 \
           --joint-damping 0.0 \
           --joint-target-type none
 
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code-block:: batch
+
+        :: clone a repository with URDF files
+        git clone git@github.com:isaac-orbit/anymal_d_simple_description.git
+
+        :: go to top of the Isaac Lab repository
+        cd IsaacLab
+        :: run the converter
+        isaaclab.bat -p scripts\tools\convert_urdf.py ^
+          ..\anymal_d_simple_description\urdf\anymal.urdf ^
+          source\isaaclab_assets\data\Robots\ANYbotics\anymal_d.usd ^
+          --merge-joints ^
+          --joint-stiffness 0.0 ^
+          --joint-damping 0.0 ^
+          --joint-target-type none
 
 Executing the above script will create a USD file inside the
 ``source/isaaclab_assets/data/Robots/ANYbotics/`` directory:
@@ -150,10 +173,15 @@ In this example, we use the MuJoCo model of the Unitree's H1 humanoid robot in t
 
 The following shows the steps to clone the repository and run the converter:
 
-.. code-block:: bash
 
-  # create a directory to clone
-  mkdir ~/git && cd ~/git
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code-block:: bash
+
         # clone a repository with URDF files
         git clone git@github.com:google-deepmind/mujoco_menagerie.git
 
@@ -161,11 +189,28 @@ The following shows the steps to clone the repository and run the converter:
         cd IsaacLab
         # run the converter
         ./isaaclab.sh -p scripts/tools/convert_mjcf.py \
-    ~/git/mujoco_menagerie/unitree_h1/h1.xml \
+          ../mujoco_menagerie/unitree_h1/h1.xml \
           source/isaaclab_assets/data/Robots/Unitree/h1.usd \
           --import-sites \
           --make-instanceable
 
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code-block:: batch
+
+        :: clone a repository with URDF files
+        git clone git@github.com:google-deepmind/mujoco_menagerie.git
+
+        :: go to top of the Isaac Lab repository
+        cd IsaacLab
+        :: run the converter
+        isaaclab.bat -p scripts\tools\convert_mjcf.py ^
+          ..\mujoco_menagerie\unitree_h1\h1.xml ^
+          source\isaaclab_assets\data\Robots\Unitree\h1.usd ^
+          --import-sites ^
+          --make-instanceable
+
 Executing the above script will create USD files inside the
 ``source/isaaclab_assets/data/Robots/Unitree/`` directory:
 
@@ -202,10 +247,14 @@ Example Usage
 We use an OBJ file of a cube to demonstrate the usage of the mesh converter. The following shows
 the steps to clone the repository and run the converter:
 
-.. code-block:: bash
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code-block:: bash
 
-  # create a directory to clone
-  mkdir ~/git && cd ~/git
         # clone a repository with URDF files
         git clone git@github.com:NVIDIA-Omniverse/IsaacGymEnvs.git
 
@@ -213,12 +262,30 @@ the steps to clone the repository and run the converter:
         cd IsaacLab
         # run the converter
         ./isaaclab.sh -p scripts/tools/convert_mesh.py \
-    ~/git/IsaacGymEnvs/assets/trifinger/objects/meshes/cube_multicolor.obj \
+          ../IsaacGymEnvs/assets/trifinger/objects/meshes/cube_multicolor.obj \
           source/isaaclab_assets/data/Props/CubeMultiColor/cube_multicolor.usd \
           --make-instanceable \
           --collision-approximation convexDecomposition \
           --mass 1.0
 
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code-block:: batch
+
+        :: clone a repository with URDF files
+        git clone git@github.com:NVIDIA-Omniverse/IsaacGymEnvs.git
+
+        :: go to top of the Isaac Lab repository
+        cd IsaacLab
+        :: run the converter
+        isaaclab.bat -p scripts\tools\convert_mesh.py ^
+          ..\IsaacGymEnvs\assets\trifinger\objects\meshes\cube_multicolor.obj ^
+          source\isaaclab_assets\data\Props\CubeMultiColor\cube_multicolor.usd ^
+          --make-instanceable ^
+          --collision-approximation convexDecomposition ^
+          --mass 1.0
+
 You may need to press 'F' to zoom in on the asset after import.
 
 Similar to the URDF and MJCF converter, executing the above script will create two USD files inside the

docs/source/how-to/write_articulation_cfg.rst

@@ -17,7 +17,8 @@ properties of an :class:`~assets.Articulation` in Isaac Lab.
 
 We will use the Cartpole example to demonstrate how to create an :class:`~assets.ArticulationCfg`.
 The Cartpole is a simple robot that consists of a cart with a pole attached to it. The cart
-is free to move along a rail, and the pole is free to rotate about the cart.
+is free to move along a rail, and the pole is free to rotate about the cart. The file for this configuration example is
+ ``source/isaaclab_assets/isaaclab_assets/robots/cartpole.py``.
 
 .. dropdown:: Code for Cartpole configuration
    :icon: code

docs/source/overview/showroom.rst

@@ -8,7 +8,8 @@ interfaces within a code in a minimal way.
 
 A few quick showroom scripts to run and checkout:
 
--  Spawn different quadrupeds and make robots stand using position commands:
+
+-  Spawn different arms and apply random joint position commands:
 
    .. tab-set::
       :sync-group: os
@@ -18,20 +19,21 @@ A few quick showroom scripts to run and checkout:
 
          .. code:: bash
 
-            ./isaaclab.sh -p scripts/demos/quadrupeds.py
+            ./isaaclab.sh -p scripts/demos/arms.py
 
       .. tab-item:: :icon:`fa-brands fa-windows` Windows
          :sync: windows
 
          .. code:: batch
 
-            isaaclab.bat -p scripts\demos\quadrupeds.py
+            isaaclab.bat -p scripts\demos\arms.py
 
-   .. image:: ../_static/demos/quadrupeds.jpg
+   .. image:: ../_static/demos/arms.jpg
       :width: 100%
-      :alt: Quadrupeds in Isaac Lab
+      :alt: Arms in Isaac Lab
 
--  Spawn different arms and apply random joint position commands:
+
+-  Spawn different biped robots:
 
    .. tab-set::
       :sync-group: os
@@ -41,18 +43,83 @@ A few quick showroom scripts to run and checkout:
 
          .. code:: bash
 
-            ./isaaclab.sh -p scripts/demos/arms.py
+            ./isaaclab.sh -p scripts/demos/bipeds.py
 
       .. tab-item:: :icon:`fa-brands fa-windows` Windows
          :sync: windows
 
          .. code:: batch
 
-            isaaclab.bat -p scripts\demos\arms.py
+            isaaclab.bat -p scripts\demos\bipeds.py
 
-   .. image:: ../_static/demos/arms.jpg
+   .. image:: ../_static/demos/bipeds.jpg
       :width: 100%
-      :alt: Arms in Isaac Lab
+      :alt: Biped robots in Isaac Lab
+
+
+-  Spawn different deformable (soft) bodies and let them fall from a height:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p scripts/demos/deformables.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p scripts\demos\deformables.py
+
+   .. image:: ../_static/demos/deformables.jpg
+      :width: 100%
+      :alt: Deformable primitive-shaped objects in Isaac Lab
+
+
+-  Interactive inference of trained H1 rough terrain locomotion policy:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p scripts/demos/h1_locomotion.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p scripts\demos\h1_locomotion.py
+
+   .. image:: ../_static/demos/h1_locomotion.jpg
+      :width: 100%
+      :alt: H1 locomotion in Isaac Lab
+
+   This is an interactive demo that can be run using the mouse and keyboard.
+   To enter third-person perspective, click on a humanoid character in the scene.
+   Once entered into third-person view, the humanoid can be controlled by keyboard using:
+
+   * ``UP``: go forward
+   * ``LEFT``: turn left
+   * ``RIGHT``: turn right
+   * ``DOWN``: stop
+   * ``C``: switch between third-person and perspective views
+   * ``ESC``: exit current third-person view
+
+   If a misclick happens outside of the humanoid bodies when selecting a humanoid,
+   a message is printed to console indicating the error, such as
+   ``The selected prim was not a H1 robot`` or
+   ``Multiple prims are selected. Please only select one!``.
+
 
 -  Spawn different hands and command them to open and close:
 
@@ -77,7 +144,8 @@ A few quick showroom scripts to run and checkout:
       :width: 100%
       :alt: Dexterous hands in Isaac Lab
 
--  Spawn different deformable (soft) bodies and let them fall from a height:
+
+-  Define multiple markers that are useful for visualizations:
 
    .. tab-set::
       :sync-group: os
@@ -87,18 +155,19 @@ A few quick showroom scripts to run and checkout:
 
          .. code:: bash
 
-            ./isaaclab.sh -p scripts/demos/deformables.py
+            ./isaaclab.sh -p scripts/demos/markers.py
 
       .. tab-item:: :icon:`fa-brands fa-windows` Windows
          :sync: windows
 
          .. code:: batch
 
-            isaaclab.bat -p scripts\demos\deformables.py
+            isaaclab.bat -p scripts\demos\markers.py
 
-   .. image:: ../_static/demos/deformables.jpg
+   .. image:: ../_static/demos/markers.jpg
       :width: 100%
-      :alt: Deformable primitive-shaped objects in Isaac Lab
+      :alt: Markers in Isaac Lab
+
 
 -  Use the interactive scene and spawn varying assets in individual environments:
 
@@ -123,6 +192,42 @@ A few quick showroom scripts to run and checkout:
       :width: 100%
       :alt: Multiple assets managed through the same simulation handles
 
+
+
+-  Use the interactive scene and spawn a simple parallel robot for pick and place:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p scripts/demos/pick_and_place.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p scripts\demos\pick_and_place.py
+
+   .. image:: ../_static/demos/pick_and_place.jpg
+      :width: 100%
+      :alt: User controlled pick and place with a parallel robot
+
+   This is an interactive demo that can be run using the mouse and keyboard.
+   Your goal is pick up the purple cube and to drop it on the red sphere!
+   Use the following controls to interact with the simulation:
+
+   * Hold the ``A`` key to have the gripper track the cube position.
+   * Hold the ``D`` key to have the gripper track the target position
+   * Press the ``W`` or ``S`` keys to move the gantry UP or DOWN respectively
+   * Press ``Q`` or ``E`` to OPEN or CLOSE the gripper respectively
+
+
+
 -  Create and spawn procedurally generated terrains with different configurations:
 
    .. tab-set::
@@ -146,7 +251,9 @@ A few quick showroom scripts to run and checkout:
       :width: 100%
       :alt: Procedural Terrains in Isaac Lab
 
--  Define multiple markers that are useful for visualizations:
+
+
+-  Spawn a quadcopter in the default environment:
 
    .. tab-set::
       :sync-group: os
@@ -156,20 +263,21 @@ A few quick showroom scripts to run and checkout:
 
          .. code:: bash
 
-            ./isaaclab.sh -p scripts/demos/markers.py
+            ./isaaclab.sh -p scripts/demos/quadcopter.py
 
       .. tab-item:: :icon:`fa-brands fa-windows` Windows
          :sync: windows
 
          .. code:: batch
 
-            isaaclab.bat -p scripts\demos\markers.py
+            isaaclab.bat -p scripts\demos\quadcopter.py
 
-   .. image:: ../_static/demos/markers.jpg
+   .. image:: ../_static/demos/quadcopter.jpg
       :width: 100%
-      :alt: Markers in Isaac Lab
+      :alt: Quadcopter in Isaac Lab
 
--  Interactive inference of trained H1 rough terrain locomotion policy:
+
+-  Spawn different quadrupeds and make robots stand using position commands:
 
    .. tab-set::
       :sync-group: os
@@ -179,31 +287,15 @@ A few quick showroom scripts to run and checkout:
 
          .. code:: bash
 
-            ./isaaclab.sh -p scripts/demos/h1_locomotion.py
+            ./isaaclab.sh -p scripts/demos/quadrupeds.py
 
       .. tab-item:: :icon:`fa-brands fa-windows` Windows
          :sync: windows
 
          .. code:: batch
 
-            isaaclab.bat -p scripts\demos\h1_locomotion.py
+            isaaclab.bat -p scripts\demos\quadrupeds.py
 
-   .. image:: ../_static/demos/h1_locomotion.jpg
+   .. image:: ../_static/demos/quadrupeds.jpg
       :width: 100%
-      :alt: H1 locomotion in Isaac Lab
-
-   This is an interactive demo that can be run using the mouse and keyboard.
-   To enter third-person perspective, click on a humanoid character in the scene.
-   Once entered into third-person view, the humanoid can be controlled by keyboard using:
-
-   * ``UP``: go forward
-   * ``LEFT``: turn left
-   * ``RIGHT``: turn right
-   * ``DOWN``: stop
-   * ``C``: switch between third-person and perspective views
-   * ``ESC``: exit current third-person view
-
-   If a misclick happens outside of the humanoid bodies when selecting a humanoid,
-   a message is printed to console indicating the error, such as
-   ``The selected prim was not a H1 robot`` or
-   ``Multiple prims are selected. Please only select one!``.
+      :alt: Quadrupeds in Isaac Lab

docs/source/overview/teleop_imitation.rst

@@ -12,6 +12,10 @@ for robot control. In case of SE(2) teleoperation, the returned command
 is the linear x-y velocity and yaw rate, while in SE(3), the returned
 command is a 6-D vector representing the change in pose.
 
+.. note::
+
+   Presently, Isaac Lab Mimic is only supported in Linux.
+
 To play inverse kinematics (IK) control with a keyboard device:
 
 .. code:: bash

docs/source/setup/installation/cloud_installation.rst

@@ -20,7 +20,7 @@ To use Isaac Automator, first clone the repo:
 
 Isaac Automator requires having ``docker`` pre-installed on the system.
 
-* To install Docker, please follow the instructions for your operating system on the `Docker website`_.
+* To install Docker, please follow the instructions for your operating system on the `Docker website`_. A minimum version of 26.0.0 for Docker Engine and 2.25.0 for Docker compose are required to work with Isaac Automator.
 * Follow the post-installation steps for Docker on the `post-installation steps`_ page. These steps allow you to run
   Docker without using ``sudo``.