Update Kamino tutorial for renamed Newton presets

Update preset references in the Kamino tutorial after the rename in
isaac-sim#5488 ("Rename Newton preset to MJWarp"):

* ``presets=newton`` -> ``presets=newton_mjwarp``
* ``presets=kamino`` -> ``presets=newton_kamino``
* ``env.sim.physics=kamino`` -> ``env.sim.physics=newton_kamino``
* Backticked preset name references in prose updated to match.

This brings the tutorial in line with the renamed preset keys and
satisfies the regression check in
``test_newton_solver_preset_names.py``.

Author: AntoineRichard

docs/source/experimental-features/newton-physics-integration/using-kamino.rst

@@ -6,7 +6,7 @@ Using the Kamino Solver
 Kamino is a Newton solver, not a separate Isaac Lab physics backend. In Isaac Lab,
 Kamino is enabled by selecting a :class:`~isaaclab_newton.physics.NewtonCfg` whose
 ``solver_cfg`` is :class:`~isaaclab_newton.physics.KaminoSolverCfg`.
-This is usually exposed as a ``kamino`` physics preset on the task configuration.
+This is usually exposed as a ``newton_kamino`` physics preset on the task configuration.
 
 Kamino support is currently beta. A task that works with PhysX or with Newton's
 MuJoCo-Warp solver may still need task-specific asset, collision, reset, and solver
@@ -20,18 +20,18 @@ Before adding Kamino, first make sure the task runs with the Newton backend:
 
 .. code-block:: bash
 
-    ./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_mjwarp
 
 Then run the same task with the Kamino preset if it is available:
 
 .. code-block:: bash
 
-    ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 128 --viz newton presets=kamino
+    ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 128 --viz newton presets=newton_kamino
 
-At the time of writing, the ``kamino`` preset is defined for
+At the time of writing, the ``newton_kamino`` preset is defined for
 ``Isaac-Cartpole-Direct-v0``, ``Isaac-Ant-Direct-v0``, ``Isaac-Cartpole-v0``,
-and ``Isaac-Ant-v0``. Passing ``presets=kamino`` to another task does not
-automatically enable Kamino; the task must define and validate its own ``kamino``
+and ``Isaac-Ant-v0``. Passing ``presets=newton_kamino`` to another task does not
+automatically enable Kamino; the task must define and validate its own ``newton_kamino``
 preset.
 
 
@@ -46,8 +46,8 @@ solver config types used by the presets:
 
     from isaaclab_newton.physics import KaminoSolverCfg, MJWarpSolverCfg, NewtonCfg
 
-Then add a ``kamino`` entry beside the existing ``default``, ``physx``, and
-``newton`` entries:
+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
     :language: python
@@ -57,7 +57,7 @@ Then add a ``kamino`` entry beside the existing ``default``, ``physx``, and
 
 The important pieces are:
 
-* Add a ``kamino`` preset whose value is :class:`~isaaclab_newton.physics.NewtonCfg`.
+* Add a ``newton_kamino`` preset whose value is :class:`~isaaclab_newton.physics.NewtonCfg`.
 * Set ``solver_cfg=KaminoSolverCfg(...)`` inside that Newton config.
 * Keep the preset at the same config path used by the task's
   :class:`~isaaclab.sim.SimulationCfg`, for example ``env.sim.physics``.
@@ -66,17 +66,17 @@ You can select the preset globally:
 
 .. code-block:: bash
 
-    ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Cartpole-v0 presets=kamino
+    ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Cartpole-v0 presets=newton_kamino
 
 or select the physics field directly:
 
 .. code-block:: bash
 
-    ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Cartpole-v0 env.sim.physics=kamino
+    ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task=Isaac-Cartpole-v0 env.sim.physics=newton_kamino
 
 Use the direct path override when only one task field should use the Kamino preset.
-Use ``presets=kamino`` when you want every matching preset field in the task config
-to resolve to ``kamino``.
+Use ``presets=newton_kamino`` when you want every matching preset field in the task config
+to resolve to ``newton_kamino``.
 Isaac Lab training scripts accept these Hydra overrides after the regular command
 line flags; no separator is needed for the examples above.
 
@@ -87,7 +87,7 @@ Check Task and Asset Compatibility
 Kamino uses the Newton model built from the task assets. When adding Kamino to a
 new task, validate the following before tuning solver parameters:
 
-* The task must already be compatible with the Newton backend. If ``presets=newton``
+* The task must already be compatible with the Newton backend. If ``presets=newton_mjwarp``
   fails during model construction, fix the asset or task configuration first.
 * The assets should use Newton-supported rigid bodies, articulations, and collision
   geometry. PhysX-only features, unsupported schemas, or missing collision shapes
@@ -226,9 +226,9 @@ Tuning Workflow
 
 Use the following sequence when bringing up a new Kamino task:
 
-1. Run the task with ``presets=newton`` and fix Newton model construction or task
+1. Run the task with ``presets=newton_mjwarp`` and fix Newton model construction or task
    compatibility issues first.
-2. Add a ``kamino`` preset with conservative values copied from the closest
+2. Add a ``newton_kamino`` preset with conservative values copied from the closest
    validated task.
 3. Run a small smoke test with a low environment count and a visualizer.
 4. Increase ``num_envs`` and profile only after the task is stable.