Moves migration guides to their own section in the docs (#573)

This MR moves the migration guide to their own section to make them more
prominent. Additionally, it removes the migration information about
Isaac Sim which is now outdated for the latest release.

## Type of change

- 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
- [ ] I have run all the tests with `./isaaclab.sh --test` and they pass
- [ ] 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/index.rst

@@ -81,7 +81,6 @@ Table of Contents
    :caption: Resources
    :titlesonly:
 
-   source/migration/index
    source/tutorials/index
    source/how-to/index
    source/deployment/index
@@ -92,11 +91,19 @@ Table of Contents
 
    source/api/index
 
+.. toctree::
+   :maxdepth: 1
+   :caption: Migration Guides
+   :titlesonly:
+
+   source/migration/migrating_from_isaacgymenvs
+   source/migration/migrating_from_omniisaacgymenvs
+   source/migration/migrating_from_orbit
+
 .. toctree::
    :maxdepth: 1
    :caption: References
 
-   source/refs/migration
    source/refs/contributing
    source/refs/troubleshooting
    source/refs/issues

docs/source/features/multi_gpu.rst

@@ -3,7 +3,14 @@ Multi-GPU and Multi-Node Training
 
 .. currentmodule:: omni.isaac.lab
 
-Isaac Lab supports multi-GPU and multi-node reinforcement learning on Linux.
+Isaac Lab supports multi-GPU and multi-node reinforcement learning. Currently, this feature is only
+available for RL-Games library training workflows. We are working on extending this feature to
+other workflows.
+
+.. attention::
+
+    Multi-GPU and multi-node training is only supported on Linux. Windows support is not available at this time.
+    This is due to limitations of the NCCL library on Windows.
 
 
 Multi-GPU Training
@@ -12,6 +19,7 @@ Multi-GPU Training
 For complex reinforcement learning environments, it may be desirable to scale up training across multiple GPUs.
 This is possible in Isaac Lab with the ``rl_games`` and ``skrl`` RL libraries through the use of the
 `PyTorch distributed <https://pytorch.org/docs/stable/distributed.html>`_ framework.
+
 In this workflow, ``torch.distributed`` is used to launch multiple processes of training, where the number of
 processes must be equal to or less than the number of GPUs available. Each process runs on
 a dedicated GPU and launches its own instance of Isaac Sim and the Isaac Lab environment.
@@ -50,7 +58,9 @@ Multi-Node Training
 
 To scale up training beyond multiple GPUs on a single machine, it is also possible to train across multiple nodes.
 To train across multiple nodes/machines, it is required to launch an individual process on each node.
-For the master node, use the following command, where ``--proc_per_node`` represents the number of available GPUs, and ``--nnodes`` represents the number of nodes:
+
+For the master node, use the following command, where ``--proc_per_node`` represents the number of available GPUs, and
+``--nnodes`` represents the number of nodes:
 
 .. tabs::
 
@@ -84,6 +94,11 @@ For non-master nodes, use the following command, replacing ``--node_rank`` with
 
             python -m torch.distributed.run --nproc_per_node=2 --nnodes=2 --node_rank=1 --rdzv_id=123 --rdzv_backend=c10d --rdzv_endpoint=ip_of_master_machine:5555 source/standalone/workflows/skrl/train.py --task=Isaac-Cartpole-v0 --headless --distributed
 
-For more details on multi-node training with PyTorch, please visit the `PyTorch documentation <https://pytorch.org/tutorials/intermediate/ddp_series_multinode.html>`_. As mentioned in the PyTorch documentation, "multinode training is bottlenecked by inter-node communication latencies". When this latency is high, it is possible multi-node training will perform worse than running on a single node instance.
+For more details on multi-node training with PyTorch, please visit the
+`PyTorch documentation <https://pytorch.org/tutorials/intermediate/ddp_series_multinode.html>`_.
 
-Due to limitations of NCCL on Windows, this feature is currently supported on Linux only.
+.. note::
+
+    As mentioned in the PyTorch documentation, "multi-node training is bottlenecked by inter-node communication
+    latencies". When this latency is high, it is possible multi-node training will perform worse than running on
+    a single node instance.

docs/source/migration/index.rst

-Migration Guides
-================
-
-The following guides show the migration process from previous frameworks that are now deprecated,
-including IsaacGymEnvs, OmniIsaacGymEnvs, and Orbit.
-
-
-.. toctree::
-    :maxdepth: 1
-    :titlesonly:
-
-    migrating_from_isaacgymenvs
-    migrating_from_omniisaacgymenvs
-    migrating_from_orbit

docs/source/migration/migrating_from_orbit.rst

 .. _migrating-from-orbit:
 
-Migrating from Orbit
-====================
+From Orbit
+==========
 
 .. currentmodule:: omni.isaac.lab
 
-Since Orbit was used as basis for Isaac Lab, migrating from Orbit to Isaac Lab is straightforward.
+Since `Orbit`_ was used as basis for Isaac Lab, migrating from Orbit to Isaac Lab is straightforward.
 The following sections describe the changes that need to be made to your code to migrate from Orbit to Isaac Lab.
 
-Updates to scripts
-~~~~~~~~~~~~~~~~~~
+Renaming of the launch script
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 The script ``orbit.sh`` has been renamed to ``isaaclab.sh``.
 
@@ -18,7 +18,8 @@ Updates to extensions
 ~~~~~~~~~~~~~~~~~~~~~
 
 The extensions ``omni.isaac.orbit``, ``omni.isaac.orbit_tasks``, and ``omni.isaac.orbit_assets`` have been renamed
-to ``omni.isaac.lab``, ``omni.isaac.lab_tasks``, and ``omni.isaac.lab_assets``, respectively. Thus, the new folder structure looks like this:
+to ``omni.isaac.lab``, ``omni.isaac.lab_tasks``, and ``omni.isaac.lab_assets``, respectively. Thus,
+the new folder structure looks like this:
 
 - ``source/extensions/omni.isaac.lab/omni/isaac/lab``
 - ``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks``
@@ -73,7 +74,7 @@ This change must also be reflected in the imports for your tasks. For example,
 
   from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg ...
 
-should now be
+should now be:
 
 .. code-block:: python
 
@@ -86,8 +87,8 @@ Other Breaking changes
 Offscreen rendering
 -------------------
 
-The input argument ``--offscreen_render`` given to :class:`omni.isaac.lab.app.AppLauncher` and the environment variable ``OFFSCREEN_RENDER``
-have been renamed to ``--enable_cameras`` and ``ENABLE_CAMERAS`` respectively.
+The input argument ``--offscreen_render`` given to :class:`omni.isaac.lab.app.AppLauncher` and the environment variable
+``OFFSCREEN_RENDER`` have been renamed to ``--enable_cameras`` and ``ENABLE_CAMERAS`` respectively.
 
 
 Event term distribution configuration
@@ -111,7 +112,7 @@ Therefore, event term configurations whose functions have a ``distribution`` arg
       },
   )
 
-should now be
+should now be:
 
 .. code-block:: python
   :emphasize-lines: 6
@@ -125,3 +126,6 @@ should now be
           "operation": "add",
       },
   )
+
+
+.. _Orbit: https://isaac-orbit.github.io/

docs/source/refs/migration.rst

 Migration Guide (Isaac Sim)
 ===========================
 
-Moving from Isaac Sim 2022.2.1 to 2023.1.0 brings in a number of changes to the
+Moving from Isaac Sim 2022.2.1 to 2023.1.0 and later brings in a number of changes to the
 APIs and the way the application is built. This document outlines the changes
 and how to migrate your code to the new APIs. Many of these changes attribute to
 the underlying Omniverse Kit upgrade from 104.2 to 105.1. The new upgrade brings
@@ -11,11 +11,6 @@ the following notable changes:
 * Upgrading the Python from 3.7 to 3.10
 
 
-.. warning::
-    This document is a work in progress and will be updated as we move closer
-    to the release of Isaac Sim 2023.1.0.
-
-
 Renaming of PhysX Flatcache to PhysX Fabric
 -------------------------------------------