Updates docs - isaacsim package and example script

[rdsa-nv]

Description

Update isaacsim install to workaround old mujoco-usd-converter converter on https://pypi.nvidia.com/mujoco-usd-converter/

Update installation test to use newton

Type of change

• Documentation update

Checklist

• I have read and understood the contribution guidelines
• 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

[greptile-apps]

Greptile Summary

This PR updates the Newton physics integration installation documentation with two changes: (1) adds --index-strategy unsafe-best-match --prerelease=allow flags to the isaacsim install command as a workaround for the old mujoco-usd-converter package on pypi.nvidia.com, and (2) updates the verification command to use the Newton visualizer via --viz newton presets=newton.

• The isaacsim install command now includes --index-strategy unsafe-best-match, which allows uv to pick the best-matching package version across multiple indexes — a standard workaround for multi-index scenarios.
• The --prerelease=allow flag is added without an inline explanation; while it resolves the mujoco-usd-converter conflict, it applies globally to all resolved packages, not just isaacsim.
• The verification command is updated to pass the Newton physics preset (presets=newton) as a Hydra override alongside --viz newton, which is consistent with how zero_agent.py handles remaining CLI arguments (forwarding them to Hydra via parse_known_args).
• The file is missing a trailing newline, which may cause pre-commit end-of-file-fixer failures.

Confidence Score: 4/5

• This PR is safe to merge — it is a documentation-only change with no impact on source code or tests.
• The changes are confined to a single .rst documentation file. The install command flags are reasonable workarounds and the updated verification command aligns with the Newton physics integration. Minor issues include a missing trailing newline and the undocumented broad scope of --prerelease=allow.
• No files require special attention beyond the minor style issues noted in docs/source/experimental-features/newton-physics-integration/installation.rst.

Important Files Changed

Filename	Overview
docs/source/experimental-features/newton-physics-integration/installation.rst	Documentation update: adds --index-strategy unsafe-best-match --prerelease=allow to the isaacsim install command as a workaround for an old mujoco-usd-converter, and updates the verification command to use the Newton visualizer (--viz newton presets=newton). Minor issues: missing trailing newline at EOF and undocumented broad scope of --prerelease=allow.

Sequence Diagram

sequenceDiagram
    participant User
    participant uv as uv (package manager)
    participant pypi_nvidia as pypi.nvidia.com
    participant PyPI as pypi.org
    participant IsaacLab as isaaclab.sh

    User->>uv: uv pip install "isaacsim[all,extscache]==6.0.0"<br/>--extra-index-url https://pypi.nvidia.com<br/>--index-strategy unsafe-best-match<br/>--prerelease=allow
    uv->>pypi_nvidia: Resolve isaacsim==6.0.0 and dependencies
    uv->>PyPI: Resolve remaining dependencies (best match across indexes)
    pypi_nvidia-->>uv: isaacsim packages
    PyPI-->>uv: Other dependencies
    uv-->>User: Installation complete

    User->>IsaacLab: ./isaaclab.sh -p scripts/environments/zero_agent.py<br/>--task Isaac-Cartpole-Direct-v0<br/>--num_envs 128 --viz newton presets=newton
    IsaacLab->>IsaacLab: parse_known_args() → --viz newton handled by AppLauncher
    IsaacLab->>IsaacLab: presets=newton forwarded to Hydra as override
    IsaacLab-->>User: Newton physics simulation running with Newton visualizer

Loading

_{Last reviewed commit: "update docs"}

[greptile-apps]

Missing newline at end of file

The file no longer ends with a trailing newline (indicated by \ No newline at end of file in the diff). RST files conventionally end with a newline, and many pre-commit hooks (e.g. end-of-file-fixer) will flag this and prevent the commit from passing.

Suggested change

	./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 128 --viz newton presets=newton
	./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 128 --viz newton presets=newton

[greptile-apps]

--prerelease=allow broadens scope beyond isaacsim

The --prerelease=allow flag instructs uv to allow pre-release versions for all packages resolved during this install, not just isaacsim. This means a pre-release version of an unrelated transitive dependency could be silently chosen over a stable release, potentially introducing instability.

If the intent is only to unblock isaacsim==6.0.0 (which itself is a specific pinned version), consider whether --prerelease=allow is strictly necessary — or add an inline comment to document why it's needed:

Suggested change

	uv pip install "isaacsim[all,extscache]==6.0.0" --extra-index-url https://pypi.nvidia.com --index-strategy unsafe-best-match --prerelease=allow
	uv pip install "isaacsim[all,extscache]==6.0.0" --extra-index-url https://pypi.nvidia.com --index-strategy unsafe-best-match --prerelease=allow

At a minimum, consider adding a .. note:: block below explaining that these flags are a workaround for the old mujoco-usd-converter on pypi.nvidia.com, so future readers understand why they are present.