Adds Agibot Humanoid two place tasks

[rebeccazhang0707]

Description

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 (#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

Type of change

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

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• 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