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Rename Newton pages for symmetry with PhysX and per-solver structure
Tidies up the Newton subdir layout so file names mirror the PhysX subdir and the per-solver split asked for in isaac-sim#876. * solver-transitioning.rst → mjwarp-solver.rst Retitled "MJWarp Solver"; intro rewritten as a solver doc (no longer framed as a PhysX→Newton transition). * using-kamino.rst → kamino-solver.rst Retitled "Kamino Solver". Label renamed from `newton-using-kamino` to `newton-kamino-solver` to match the new file name. * limitations-and-known-bugs.rst → supported-features.rst Retitled "Supported Features" to mirror PhysX's same-named page. Newton index toctree updated, and the doc/ref cross-references in supported-features.rst and the Newton index updated to the new names.
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‎docs/source/overview/core-concepts/backends/newton/index.rst‎

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@@ -19,9 +19,11 @@ have successfully deployed a Newton-trained locomotion policy to a G1 robot.
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Newton can support `multiple solvers
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<https://newton-physics.github.io/newton/latest/api/newton_solvers.html>`_ for
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handling different types of physics simulation. The Isaac Lab integration focuses
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primarily on the MuJoCo-Warp solver, with beta support for the Kamino solver on
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selected classic tasks. See :doc:`using-kamino` for the Kamino workflow.
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handling different types of physics simulation. The Isaac Lab integration ships
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two solver pages:
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* :doc:`mjwarp-solver` — the primary, validated solver path.
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* :doc:`kamino-solver` — beta support on selected classic tasks.
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During the beta phase, breaking changes and incomplete documentation are still
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expected. Official support and debugging assistance will follow once the framework
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:titlesonly:
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installation
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limitations-and-known-bugs
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solver-transitioning
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using-kamino
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supported-features
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mjwarp-solver
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kamino-solver

docs/source/overview/core-concepts/backends/newton/using-kamino.rst renamed to docs/source/overview/core-concepts/backends/newton/kamino-solver.rst

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.. _newton-using-kamino:
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.. _newton-kamino-solver:
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Using the Kamino Solver
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=======================
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Kamino Solver
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=============
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Kamino is a Newton solver, not a separate Isaac Lab physics backend. In Isaac Lab,
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Kamino is enabled by selecting a :class:`~isaaclab_newton.physics.NewtonCfg` whose

docs/source/overview/core-concepts/backends/newton/solver-transitioning.rst renamed to docs/source/overview/core-concepts/backends/newton/mjwarp-solver.rst

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Solver Transitioning
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====================
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Transitioning to the Newton physics engine introduces new physics solvers that handle simulation using different numerical approaches.
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While Newton supports several different solvers, our initial focus for Isaac Lab is on using the
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MuJoCo-Warp solver from Google DeepMind. Isaac Lab also includes beta support for the Kamino
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solver on selected classic tasks. Kamino is selected through a physics preset rather than as a
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separate backend; see :ref:`hydra-backend-solver-presets` and :ref:`newton-using-kamino`.
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MJWarp Solver
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=============
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The MuJoCo-Warp solver from Google DeepMind is the primary, validated solver
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for the Newton backend in Isaac Lab. It is enabled by setting
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:attr:`~isaaclab_newton.physics.NewtonCfg.solver_cfg` to a
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:class:`~isaaclab_newton.physics.MJWarpSolverCfg`, usually exposed as the
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``newton_mjwarp`` physics preset on a task configuration. Newton ships with
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beta support for an alternative Kamino solver — see :doc:`kamino-solver` and
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:ref:`hydra-backend-solver-presets` for how presets are selected.
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.. note::
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docs/source/overview/core-concepts/backends/newton/limitations-and-known-bugs.rst renamed to docs/source/overview/core-concepts/backends/newton/supported-features.rst

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Limitations
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===========
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Supported Features
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==================
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The Newton backend is in beta. Breaking changes and incomplete documentation are
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still expected, and official support or debugging assistance will only be
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grep -rln "newton_mjwarp" source/isaaclab_tasks/
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Passing ``presets=newton_mjwarp`` to a task without that preset will raise an
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error at launch. The :doc:`solver-transitioning` page covers how to add a
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Newton preset to your own task.
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error at launch. The :doc:`mjwarp-solver` page covers how to add a Newton
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preset to your own task.
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Supported Surface
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* **MuJoCo-Warp solver**: the primary, validated path for every supported task.
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* **Kamino solver**: beta. Currently validated on ``Isaac-Cartpole-Direct-v0``,
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``Isaac-Ant-Direct-v0``, ``Isaac-Cartpole-v0``, and ``Isaac-Ant-v0``. See
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:doc:`using-kamino`.
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:doc:`kamino-solver`.
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Other Newton solvers (e.g. VBD) are not yet exposed through Isaac Lab.
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