docs: add DirectEnv and ManagerEnv user guides (#39)

[wlgys8]

Closes #39, refs #40

内容

使用教程重构

• 平铺 12 页重组为四层树形结构：基础框架 → 构建环境 → 训练与结果 → 进阶主题，每层 index 承担宏观导览（解决什么问题 / 含哪几步 / 下一步去哪）
• 页内统一「最小可用示例 → 概念展开 → 契约细节 → 参考表格」的循序展开顺序

新增 DirectEnv / ManagerEnv 编写指南

• 双语（zh_CN/en）成对编写：最小示例 → 生命周期 → 配置/逐组展开 → 注册约定
• ManagerEnv 每类 term 按「做什么 / 如何定义」成对讲解，定义模式从内置 mdp 实现提炼
• 生命周期流水线 SVG（2×3 蛇形布局、light/dark 双主题、仅总览图呈公共骨架）

新增图示

• rl-loop（仿真 RL 循环：obs → policy → action，reward/done → trainer）
• env/direct/manager 三个生命周期流水线变体
• 均经栅格化目检，嵌入使用 only-light/only-dark

基础框架页重写

• 按「RL 典型流程 → package 与流程对应 → 一次训练完整流程」自顶向下展开
• 移除用户在此阶段无需了解的仿真后端细节

其他

• 新增 SimBackend.compile_writes 便捷方法（feat: add SimBackend.compile_writes convenience API #40），motrix_env_core 调用点与测试已迁移，文档示例同步
• write-motrixlab-task-docs 技能新增框架教程编写规范（tutorial-standard.md）
• 解散过薄的奖励设计独立页（并入环境构建总览）；修复全部受影响交叉链接

[Copilot]

🟡 Changes recommended

Several newly added/rewritten docs contain copy-paste-breaking snippets or misdirecting links that should be corrected before merging to keep the tutorial path reliable.

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Pull request overview

This PR restructures the MotrixLab user tutorial documentation (zh_CN/en) to add DirectEnv/ManagerEnv authoring guides and a layered tutorial navigation, while also introducing a small SimBackend API convenience (compile_writes) and migrating core call sites/tests to it.

Changes:

• Add SimBackend.compile_writes(...) as a convenience twin to compile_reads / compile_model, and migrate call sites/tests.
• Rebuild the tutorial IA into layered sections (tutorial overview → building envs → training → advanced), adding new pages for DirectEnv/ManagerEnv, runs/checkpoints, and advanced topics.
• Add new SVG pipeline diagrams (light/dark variants) and fix/adjust cross-links after page moves/removals.

File summaries

File	Description
motrix_env_core/tests/test_direct_env_sim_backend.py	Update tests to use SimBackend.compile_writes.
motrix_env_core/src/motrix_env_core/sim/backend.py	Add compile_writes convenience API on SimBackend.
motrix_env_core/src/motrix_env_core/numba/manager/sim_reset.py	Migrate reset write compilation to compile_writes.
motrix_env_core/src/motrix_env_core/numba/manager/env.py	Migrate action write compilation to compile_writes.
docs/source/zh_CN/user_guide/tutorial/training/training_and_result.md	Update training doc links to new training subtree filenames.
docs/source/zh_CN/user_guide/tutorial/training/task_config.md	Fix relative links to repo configs/algo_base/* after doc move.
docs/source/zh_CN/user_guide/tutorial/training/runs_and_checkpoints.md	New page documenting run directory layout and checkpoint manifest semantics.
docs/source/zh_CN/user_guide/tutorial/training/index.md	New training section index page and toctree.
docs/source/zh_CN/user_guide/tutorial/rewards.md	Remove thin standalone rewards page (content folded into other pages).
docs/source/zh_CN/user_guide/tutorial/index.md	New tutorial overview landing page.
docs/source/zh_CN/user_guide/tutorial/building_envs/sim_backend.md	New SimBackend concept page for environment–sim boundary and program compilation.
docs/source/zh_CN/user_guide/tutorial/building_envs/scene.md	Rename/retitle SceneCfg page to fit new IA.
docs/source/zh_CN/user_guide/tutorial/building_envs/manager_env.md	New ManagerEnv authoring guide page.
docs/source/zh_CN/user_guide/tutorial/building_envs/index.md	New “building environments” section index and toctree.
docs/source/zh_CN/user_guide/tutorial/building_envs/direct_env.md	New DirectEnv authoring guide page.
docs/source/zh_CN/user_guide/tutorial/basic_frame.md	Rewrite basic framework page to match new macro→detail flow and diagrams.
docs/source/zh_CN/user_guide/tutorial/advanced/motrix_deploy.md	New advanced tutorial page for deployment workflow.
docs/source/zh_CN/user_guide/tutorial/advanced/input_devices_and_bindings/extending.md	New advanced subpage describing how to extend input components.
docs/source/zh_CN/user_guide/tutorial/advanced/input_devices_and_bindings/built_in.md	New advanced subpage enumerating built-in input contracts/bindings.
docs/source/zh_CN/user_guide/tutorial/advanced/input_devices_and_bindings.md	New advanced overview page for command input architecture.
docs/source/zh_CN/user_guide/tutorial/advanced/index.md	New advanced section index page and toctree.
docs/source/zh_CN/user_guide/tutorial/advanced/export_onnx.md	Fix links after moving training pages under tutorial/training/.
docs/source/zh_CN/user_guide/tutorial/advanced/custom_training_backend.md	New advanced tutorial page for adding a custom training backend.
docs/source/zh_CN/user_guide/index.md	Update top-level user guide toctree to new tutorial structure.
docs/source/zh_CN/user_guide/getting_started/hello_motrixlab.md	Update “next steps” link to new SceneCfg tutorial location.
docs/source/zh_CN/user_guide/envs/whole_body_tracking/index.md	Update link to moved runs/checkpoints page.
docs/source/en/user_guide/tutorial/training/training_and_result.md	Update training doc links to new training subtree filenames.
docs/source/en/user_guide/tutorial/training/task_config.md	Fix relative links to repo configs/algo_base/* after doc move.
docs/source/en/user_guide/tutorial/training/runs_and_checkpoints.md	New page documenting run directory layout and checkpoint manifest semantics.
docs/source/en/user_guide/tutorial/training/index.md	New training section index page and toctree.
docs/source/en/user_guide/tutorial/rewards.md	Remove thin standalone rewards page (content folded into other pages).
docs/source/en/user_guide/tutorial/index.md	New tutorial overview landing page.
docs/source/en/user_guide/tutorial/building_envs/sim_backend.md	New SimBackend concept page for environment–sim boundary and program compilation.
docs/source/en/user_guide/tutorial/building_envs/scene.md	Rename/retitle SceneCfg page to fit new IA.
docs/source/en/user_guide/tutorial/building_envs/manager_env.md	New ManagerEnv authoring guide page.
docs/source/en/user_guide/tutorial/building_envs/index.md	New “building environments” section index and toctree.
docs/source/en/user_guide/tutorial/building_envs/direct_env.md	New DirectEnv authoring guide page.
docs/source/en/user_guide/tutorial/basic_frame.md	Rewrite basic framework page to match new macro→detail flow and diagrams.
docs/source/en/user_guide/tutorial/advanced/motrix_deploy.md	New advanced tutorial page for deployment workflow.
docs/source/en/user_guide/tutorial/advanced/input_devices_and_bindings/extending.md	New advanced subpage describing how to extend input components.
docs/source/en/user_guide/tutorial/advanced/input_devices_and_bindings/built_in.md	New advanced subpage enumerating built-in input contracts/bindings.
docs/source/en/user_guide/tutorial/advanced/input_devices_and_bindings.md	New advanced overview page for command input architecture.
docs/source/en/user_guide/tutorial/advanced/index.md	New advanced section index page and toctree.
docs/source/en/user_guide/tutorial/advanced/export_onnx.md	Fix links after moving training pages under tutorial/training/.
docs/source/en/user_guide/tutorial/advanced/custom_training_backend.md	New advanced tutorial page for adding a custom training backend.
docs/source/en/user_guide/index.md	Update top-level user guide toctree to new tutorial structure.
docs/source/en/user_guide/getting_started/hello_motrixlab.md	Update “next steps” link to new SceneCfg tutorial location.
docs/source/en/user_guide/envs/whole_body_tracking/index.md	Update link to moved runs/checkpoints page.
docs/source/_static/images/tutorial/rl-loop-light.svg	New RL loop diagram (light theme).
docs/source/_static/images/tutorial/rl-loop-dark.svg	New RL loop diagram (dark theme).
docs/source/_static/images/tutorial/manager-env-lifecycle-light.svg	New ManagerEnv lifecycle diagram (light theme).
docs/source/_static/images/tutorial/manager-env-lifecycle-dark.svg	New ManagerEnv lifecycle diagram (dark theme).
docs/source/_static/images/tutorial/env-lifecycle-light.svg	New shared ArrayEnv lifecycle skeleton (light theme).
docs/source/_static/images/tutorial/env-lifecycle-dark.svg	New shared ArrayEnv lifecycle skeleton (dark theme).
docs/source/_static/images/tutorial/direct-env-lifecycle-light.svg	New DirectEnv lifecycle diagram (light theme).
docs/source/_static/images/tutorial/direct-env-lifecycle-dark.svg	New DirectEnv lifecycle diagram (dark theme).
.agents/skills/write-motrixlab-task-docs/SKILL.md	Expand skill scope to cover tutorial pages + standards.
.agents/skills/write-motrixlab-task-docs/references/tutorial-standard.md	New tutorial documentation standard reference.

Review details

• Files reviewed: 38/58 changed files
• Comments generated: 6
• Review effort level: Lite

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[Copilot]

🟡 Changes recommended

Several newly added/edited tutorial pages contain confirmed documentation issues (broken relative links and non-runnable “minimal skeleton” snippets) that should be fixed to meet the PR’s stated “examples match current API” acceptance criteria.

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Review details

Suppressed comments (5)

docs/source/en/user_guide/tutorial/advanced/export_onnx.md:17

• The link text has a grammatical error (“runs Directories”) and does not match the title of the referenced page, which reduces consistency across the tutorial navigation.
  docs/source/zh_CN/user_guide/tutorial/training/task_config.md:149
• This relative link points to a non-existent path when resolved from this document (it would land under docs/configs/...). To reach the repository-root configs/ directory from docs/source/zh_CN/user_guide/tutorial/training/, the path needs one more "../".
  docs/source/en/user_guide/tutorial/training/task_config.md:149
• This relative link resolves to a non-existent path from this document (it would point under docs/configs/...). To reference the repository-root configs/ directory from docs/source/en/user_guide/tutorial/training/, the link needs one more "../" (same issue repeats for the other algo_base links below).
  docs/source/zh_CN/user_guide/tutorial/building_envs/manager_env.md:21
• The minimal skeleton code block uses @configclass, SceneCfg, and ManagerResetCfg but does not import them, so readers copying the snippet will hit NameError/ImportError immediately. Import these symbols in the snippet to keep it runnable apart from the intentionally omitted config groups.
  docs/source/en/user_guide/tutorial/building_envs/manager_env.md:24
• The minimal skeleton code block uses @configclass, SceneCfg, and ManagerResetCfg but does not import them, so readers copying the snippet will hit NameError/ImportError immediately. Import these symbols in the snippet to keep it runnable apart from the intentionally omitted config groups.

from motrix_env_core import registry
from motrix_env_core.manager import (
    ManagerBasedEnvCfg,
    ManagerEnv,
)

• Files reviewed: 38/58 changed files
• Comments generated: 1
• Review effort level: Lite