Address agent review findings and refresh stale Newton task list

Verification agents flagged five issues against the previous two
commits and one issue-isaac-sim#876 gap that the first pass missed.

1. Newton using-kamino.rst literalinclude path was one level short
   (../../../../../ → ../../../../../../). The previous depth resolved
   to a non-existent /docs/source/isaaclab_tasks/... and would have
   broken the sphinx build.

2. PhysX supported-features.rst listed Ray Caster, Visuo-tactile, and
   Camera as PhysX-specific sensors. Ray Caster and Camera are
   implemented in isaaclab core (backend-agnostic); Visuo-tactile lives
   in isaaclab_contrib. Reframe the section to separate PhysX-implemented
   sensors from backend-agnostic ones. Drop the unverifiable
   "path-traced" qualifier on the RTX renderer claim.

3. OvPhysX stub referenced only PR isaac-sim#5426 and PR isaac-sim#5459. The actual
   in-flight set spans six PRs: isaac-sim#5426 (merged), isaac-sim#5459, isaac-sim#5422, isaac-sim#5421,
   isaac-sim#5570, isaac-sim#5589. List them all with merge state, and reword "primary
   covered surfaces" to reflect that most are still open PRs.

4. backends/index.rst feature matrix said OvPhysX sensor coverage was
   "Partial" — actually only RigidObject is merged. Replace the
   matrix rows with concrete "In-flight (PR #...)" / "Not yet" cells.

5. Issue isaac-sim#876 asked to "review the limitations list and update it." The
   previous pass only reworded the intro. Refresh the task list against
   develop's actual newton_mjwarp coverage, add Shadow Hand / Shadow
   Hand Over / cabinet / dexsuite / rough-terrain locomotion, and
   replace the rigid bullet list with a discovery recipe so the list
   stops bit-rotting.

Author: AntoineRichard

docs/source/overview/core-concepts/backends/index.rst

@@ -81,27 +81,27 @@ per-task support, see each backend's own ``limitations`` page.
     * - Articulation API
       - Yes
       - Yes
-      - Yes (subset)
+      - In-flight (PR #5459)
     * - Rigid Object API
       - Yes
       - Yes
-      - Yes (subset)
-    * - Contact Sensor
       - Yes
+    * - Contact Sensor
       - Yes
       - Yes
-    * - IMU / Frame Transformer / Ray Caster
+      - In-flight (PR #5422)
+    * - IMU
       - Yes
       - Yes
-      - Partial — see backend page
-    * - PVA / Joint-Wrench Sensor
+      - In-flight (PR #5421)
+    * - Frame Transformer / Ray Caster / PVA / Joint-Wrench Sensor
       - Yes
       - Yes
-      - Partial
+      - Not yet
     * - Camera / Tiled Rendering
       - Yes (RTX)
       - Yes (Newton-Warp renderer)
-      - Yes (RTX) — depends on Isaac Sim
+      - Not yet
     * - Requires Isaac Sim
       - Yes
       - Optional (only for the Omniverse visualizer)

docs/source/overview/core-concepts/backends/newton/limitations-and-known-bugs.rst

@@ -5,51 +5,84 @@ The Newton backend is in beta. Breaking changes and incomplete documentation are
 still expected, and official support or debugging assistance will only be
 available once the integration reaches an official release.
 
-Here is a non-exhaustive list of capabilities currently supported by the Newton
-backend, grouped by extension:
-
-* isaaclab:
-    * Articulation API (supports both articulations and single-body articulations as rigid bodies)
-    * Contact Sensor
-    * Direct & Manager single agent workflows
-    * Omniverse Kit visualizer
-    * Newton visualizer
-* isaaclab_assets:
-    * Quadrupeds
-        * Anymal-B, Anymal-C, Anymal-D
-        * Unitree A1, Go1, Go2
-        * Spot
-    * Humanoids
-        * Unitree H1 & G1
-        * Cassie
-    * Arms and Hands
-        * Franka
-        * UR10
-        * Allegro Hand
-    * Toy examples
-        * Cartpole
-        * Ant
-        * Humanoid
-* isaaclab_tasks:
-    * Direct:
-        * Cartpole (State, RGB, Depth)
-        * Ant
-        * Humanoid
-        * Allegro Hand Repose Cube
-    * Manager based:
-        * Cartpole (State)
-        * Ant
-        * Humanoid
-        * Locomotion (velocity flat terrain)
-            * Anymal-B
-            * Anymal-C
-            * Anymal-D
-            * Cassie
-            * A1
-            * Go1
-            * Go2
-            * Unitree G1
-            * Unitree H1
-        * Manipulation reach
-            * Franka
-            * UR10
+
+Discovering Newton-Supported Tasks
+----------------------------------
+
+A task supports the Newton backend when its physics ``PresetCfg`` declares a
+``newton_mjwarp`` (or ``newton_kamino``) entry. To list every task that
+currently supports Newton:
+
+.. code-block:: bash
+
+    grep -rln "newton_mjwarp" source/isaaclab_tasks/
+
+Passing ``presets=newton_mjwarp`` to a task without that preset will raise an
+error at launch. The :doc:`solver-transitioning` page covers how to add a
+Newton preset to your own task.
+
+
+Supported Surface
+-----------------
+
+The following capabilities are covered by the Newton backend on ``develop`` at
+the time of writing. The list is non-exhaustive and continues to grow.
+
+isaaclab
+^^^^^^^^
+
+* Articulation API (multi-link and single-body articulations)
+* Rigid Object and Rigid Object Collection APIs
+* Sensors: Contact Sensor, IMU, Frame Transformer, Joint Wrench, PVA
+* Direct and Manager-based single-agent workflows
+* Omniverse Kit visualizer (when Isaac Sim is installed)
+* Newton-Warp visualizer (kit-less)
+* Tiled rendering via the Newton-Warp renderer
+
+isaaclab_assets
+^^^^^^^^^^^^^^^
+
+* Quadrupeds: Anymal-B, Anymal-C, Anymal-D, Unitree A1, Unitree Go1, Unitree
+  Go2, Spot
+* Humanoids: Unitree H1, Unitree G1, Cassie
+* Arms and hands: Franka, UR10, Allegro Hand, Shadow Hand
+* Toy examples: Cartpole, Ant, Humanoid
+
+isaaclab_tasks
+^^^^^^^^^^^^^^
+
+Direct workflows:
+
+* Cartpole (state, RGB, depth)
+* Ant, Humanoid
+* Allegro Hand Repose Cube, Shadow Hand, Shadow Hand Over
+* Locomotion (shared base env)
+
+Manager-based workflows:
+
+* Classic: Cartpole, Ant, Humanoid
+* Locomotion velocity, flat terrain: A1, Anymal-B, Anymal-C, Anymal-D, Cassie,
+  Unitree G1, Go1, Go2, Unitree H1, Spot
+* Locomotion velocity, rough terrain: Anymal-C, Cassie, Go1, Go2
+* Manipulation: reach (Franka, UR10), cabinet, dexsuite
+
+
+Solver Coverage
+---------------
+
+* **MuJoCo-Warp solver**: the primary, validated path for every supported task.
+* **Kamino solver**: beta. Currently validated on ``Isaac-Cartpole-Direct-v0``,
+  ``Isaac-Ant-Direct-v0``, ``Isaac-Cartpole-v0``, and ``Isaac-Ant-v0``. See
+  :doc:`using-kamino`.
+
+Other Newton solvers (e.g. VBD) are not yet exposed through Isaac Lab.
+
+
+Known Gaps
+----------
+
+* Soft bodies, particles, and other non-rigid PhysX features are not yet
+  available through Newton.
+* Behaviour on stiff contact stacks can diverge from PhysX; expect to retune
+  contact and substep parameters when porting tasks across backends.
+* Multi-agent and self-play workflows are not yet wired up for Newton.

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

@@ -49,7 +49,7 @@ solver config types used by the presets:
 Then add a ``newton_kamino`` entry beside the existing ``default``, ``physx``, and
 ``newton_mjwarp`` entries:
 
-.. literalinclude:: ../../../../../source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env_cfg.py
+.. literalinclude:: ../../../../../../source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env_cfg.py
     :language: python
     :start-at: class CartpolePhysicsCfg
     :end-at: ovphysx: OvPhysxCfg = OvPhysxCfg()

docs/source/overview/core-concepts/backends/ovphysx/index.rst

@@ -37,13 +37,25 @@ What works today
 ----------------
 
 The asset and sensor surface tracks PhysX, but only a subset is implemented and
-validated at the time of writing. Articulation, Rigid Object, and Contact
-Sensor are the primary covered surfaces. Other sensors and renderer
-combinations are partial — consult the in-flight pull requests below for the
-current status:
+validated at the time of writing. Rigid Object support is merged on
+``develop``; the remaining assets and sensors are landing through a series of
+stacked pull requests:
 
-* Articulation: `PR #5459 <https://github.com/isaac-sim/IsaacLab/pull/5459>`_
-* RigidObject: `PR #5426 <https://github.com/isaac-sim/IsaacLab/pull/5426>`_
+* RigidObject — merged via
+  `PR #5426 <https://github.com/isaac-sim/IsaacLab/pull/5426>`_.
+* Articulation — open in
+  `PR #5459 <https://github.com/isaac-sim/IsaacLab/pull/5459>`_.
+* Contact Sensor — open in
+  `PR #5422 <https://github.com/isaac-sim/IsaacLab/pull/5422>`_.
+* IMU — open in
+  `PR #5421 <https://github.com/isaac-sim/IsaacLab/pull/5421>`_.
+* RigidObjectCollection — open in
+  `PR #5570 <https://github.com/isaac-sim/IsaacLab/pull/5570>`_.
+* SceneDataProvider — open in
+  `PR #5589 <https://github.com/isaac-sim/IsaacLab/pull/5589>`_.
+
+Other sensors (Frame Transformer, Joint Wrench, PVA, Ray Caster) and the
+rendering surface are not yet wired up for OvPhysX.
 
 Status and follow-up
 --------------------

docs/source/overview/core-concepts/backends/physx/supported-features.rst

@@ -23,20 +23,27 @@ Core Simulation
 Sensors
 -------
 
+PhysX implements the following sensors directly under
+``isaaclab_physx/sensors/``:
+
 * Contact Sensor
 * IMU
 * Frame Transformer
-* Ray Caster
-* PVA
 * Joint Wrench Sensor
-* Visuo-tactile sensor
-* Camera (RTX) — see :doc:`../../sensors/camera`
+* PVA
+
+The following sensors are backend-agnostic (implemented in ``isaaclab`` core)
+and work transparently with PhysX:
+
+* Ray Caster
+* Camera — see :doc:`../../sensors/camera`
 
 
 Rendering
 ---------
 
-* RTX renderer (real-time and path-traced)
+* RTX renderer (real-time rasterized; path tracing available through the
+  underlying Omniverse RTX pipeline)
 * Tiled rendering for vectorized RGB / depth / segmentation