# Description

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Adds two place tasks and mimic tasks with Agibot A2D humanoid, using
RMPFlow controller:

- add agibot robot config in agibot.py and .usd asset
- add motion_policy_configs and .urdf for rmpflow controller
- add new task cfg: place_toy2box_rmp_rel_env_cfg, and
place_upright_mug_rmp_rel_env_cfg
- add new mimic task cfg: agibot_place_toy2box_mimic_env_cfg, and
agibot_place_upright_mug_mimic_env_cfg
- add new mimic task: in pick_place_mimic_env.py
- add new subtasks in mdp.observations/terminations: object_grasped,
object_placed_upright, object_a_is_into_b

Notes: This PR relies on PR
(https://github.com/isaac-sim/IsaacLab/pull/3210) for RmpFlowAction
support.

You can test the whole gr00t-mimic workflow by:

1. Record Demos
```
./isaaclab.sh -p scripts/tools/record_demos.py \
  --dataset_file datasets/recorded_demos_agibot_right_arm_rel.hdf5 \
  --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 \
  --teleop_device spacemouse \
  --num_demos 1
```
2. Replay Demos
```
./isaaclab.sh -p scripts/tools/replay_demos.py \
  --dataset_file datasets/recorded_demos_agibot_right_arm_rel.hdf5 \
  --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 \
  --num_envs 1
```
3. Annotate Demos
```
./isaaclab.sh -p  scripts/imitation_learning/isaaclab_mimic/annotate_demos.py \
  --input_file datasets/recorded_demos_agibot_right_arm_rel.hdf5 \
  --output_file datasets/annotated_demos_agibot_right_arm_rel.hdf5 \
  --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-Rel-Mimic-v0 \
  --auto 
```
4. Generate Demos
```
./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/generate_dataset.py \
  --input_file datasets/annotated_demos_agibot_right_arm_rel.hdf5 \
  --output_file datasets/generated_demos_agibot_right_arm_rel.hdf5 \
  --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-Rel-Mimic-v0 \
  --num_envs 16 \
  --generation_num_trials 10
```

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## Type of change

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- New feature (non-breaking change which adds functionality)

## Screenshot
<img width="1401" height="567" alt="environments_agibot"
src="https://github.com/user-attachments/assets/bc95e83a-e334-4dfc-a65c-3d1d97be0c4b"
/>


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>