Updates Isaac Lab Mimic docs for V2 release (#299)

# Description

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Documentation update for Isaac Lab Mimic for V2 release. Adds steps for
training visuomotor policy and dexmimic data generation.


## Type of change

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- Documentation update

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## Checklist

- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [ ] 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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docs/source/api/lab/isaaclab.envs.rst

@@ -24,6 +24,8 @@
     DirectMARLEnvCfg
     ManagerBasedRLMimicEnv
     MimicEnvCfg
+    SubTaskConfig
+    SubTaskConstraintConfig
     ViewerCfg
 
 Manager Based Environment
@@ -92,6 +94,18 @@ Mimic Environment
     :show-inheritance:
     :exclude-members: __init__, class_type
 
+.. autoclass:: SubTaskConfig
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+.. autoclass:: SubTaskConstraintConfig
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
 Common
 ------
 

docs/source/overview/environments.rst

@@ -109,7 +109,9 @@ for the lift-cube environment:
     +--------------------+-------------------------+-----------------------------------------------------------------------------+
     | |lift-cube|        | |lift-cube-link|        | Pick a cube and bring it to a sampled target position with the Franka robot |
     +--------------------+-------------------------+-----------------------------------------------------------------------------+
-    | |stack-cube|       | |stack-cube-link|       | Stack three cubes (bottom to top: blue, red, green) with the Franka robot   |
+    | |stack-cube|       | |stack-cube-link|       | Stack three cubes (bottom to top: blue, red, green) with the Franka robot.  |
+    |                    |                         | Blueprint env used for the NVIDIA Isaac GR00T blueprint for synthetic       |
+    |                    | |stack-cube-bp-link|    | manipulation motion generation                                              |
     +--------------------+-------------------------+-----------------------------------------------------------------------------+
     | |cabi-franka|      | |cabi-franka-link|      | Grasp the handle of a cabinet's drawer and open it with the Franka robot    |
     |                    |                         |                                                                             |
@@ -127,6 +129,8 @@ for the lift-cube environment:
     +--------------------+-------------------------+-----------------------------------------------------------------------------+
     | |cube-shadow|      | |cube-shadow-vis-link|  | In-hand reorientation of a cube using Shadow hand using perceptive inputs   |
     +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |gr1_pick_place|   | |gr1_pick_place-link|   | Pick up and place an object in a basket with a GR-1 humanoid robot          |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
 
 .. |reach-franka| image:: ../_static/tasks/manipulation/franka_reach.jpg
 .. |reach-ur10| image:: ../_static/tasks/manipulation/ur10_reach.jpg
@@ -135,6 +139,7 @@ for the lift-cube environment:
 .. |cube-allegro| image:: ../_static/tasks/manipulation/allegro_cube.jpg
 .. |cube-shadow| image:: ../_static/tasks/manipulation/shadow_cube.jpg
 .. |stack-cube| image:: ../_static/tasks/manipulation/franka_stack.jpg
+.. |gr1_pick_place| image:: ../_static/tasks/manipulation/gr-1_pick_place.jpg
 
 .. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py>`__
 .. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py>`__
@@ -146,6 +151,8 @@ for the lift-cube environment:
 .. |cube-allegro-link| replace:: `Isaac-Repose-Cube-Allegro-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py>`__
 .. |allegro-direct-link| replace:: `Isaac-Repose-Cube-Allegro-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py>`__
 .. |stack-cube-link| replace:: `Isaac-Stack-Cube-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py>`__
+.. |stack-cube-bp-link| replace:: `Isaac-Stack-Cube-Franka-Blueprint-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py>`__
+.. |gr1_pick_place-link| replace:: `Isaac-PickPlace-GR1T2-Abs-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py>`__
 
 .. |cube-shadow-link| replace:: `Isaac-Repose-Cube-Shadow-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
 .. |cube-shadow-ff-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__

source/isaaclab/isaaclab/envs/mimic_env_cfg.py

@@ -77,7 +77,9 @@ class DataGenConfig:
 
 @configclass
 class SubTaskConfig:
-    """Configuration settings specific to the management of individual subtasks."""
+    """
+    Configuration settings for specifying subtasks used in Mimic environments.
+    """
 
     """Mandatory options that should be defined for every subtask."""
 
@@ -150,7 +152,9 @@ class SubTaskConstraintCoordinationScheme(enum.IntEnum):
 
 @configclass
 class SubTaskConstraintConfig:
-    """Configuration settings for subtask constraints."""
+    """
+    Configuration settings for specifying subtask constraints used in multi-eef Mimic environments.
+    """
 
     eef_subtask_constraint_tuple: list[tuple[str, int]] = (("", 0), ("", 0))
     """List of associated subtasks tuples in order.