[Newton] Updates docs to include visualizer instructions

[matthewtrepte]

Description

Updates documentation for newton beta 2:

Visualizers instructions

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Screenshots

Please attach before and after screenshots of the change if applicable.

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

Added comprehensive visualizer documentation for Newton beta 2, updated installation instructions to make Isaac Sim 5.1 optional, and removed Spot from supported environments list.

Key Changes

• Added new visualization.rst documentation covering three visualizer backends (Omniverse, Newton OpenGL, and Rerun)
• Updated installation docs to reflect Isaac Sim 5.1 as optional dependency (only needed for Omniverse visualizer)
• Removed Spot from limitations file (but still referenced in training-environments.rst)
• Added three visualizer screenshots for documentation

Issues Found

• Typo in visualization.rst:279: "complex" should be "complexity"
• Inconsistency with Spot removal: Removed from limitations file but still listed in training-environments.rst:26

Confidence Score: 4/5

• This documentation PR is mostly safe to merge with minor issues that should be addressed
• Score reflects well-structured documentation additions with comprehensive coverage of visualizer features, but includes a typo and an inconsistency where Spot removal was incomplete across documentation files
• Pay attention to docs/source/features/visualization.rst (typo on line 279) and verify Spot removal consistency across all Newton documentation files

Important Files Changed

Filename	Overview
docs/source/features/visualization.rst	New comprehensive documentation for visualizers with minor typo on line 279
docs/source/experimental-features/newton-physics-integration/installation.rst	Updated to reflect Isaac Sim 5.1 as optional dependency and simplified installation process
docs/source/experimental-features/newton-physics-integration/limitations-and-known-bugs.rst	Removed Spot from supported list, but training-environments.rst still references it (inconsistency)

Sequence Diagram

sequenceDiagram
    participant User
    participant CLI as Command Line
    participant SimCfg as SimulationCfg
    participant OV as Omniverse Visualizer
    participant Newton as Newton Visualizer
    participant Rerun as Rerun Visualizer
    
    User->>CLI: Run with --visualizer flag
    CLI->>SimCfg: Parse visualizer arguments
    
    alt Omniverse selected
        SimCfg->>OV: Initialize with OVVisualizerCfg
        OV->>OV: Create viewport
        OV->>OV: Setup camera
        OV->>OV: Enable markers/plots
    end
    
    alt Newton selected
        SimCfg->>Newton: Initialize with NewtonVisualizerCfg
        Newton->>Newton: Create OpenGL window
        Newton->>Newton: Setup camera
        Newton->>Newton: Enable physics debug visuals
    end
    
    alt Rerun selected
        SimCfg->>Rerun: Initialize with RerunVisualizerCfg
        Rerun->>Rerun: Start web server
        Rerun->>Rerun: Setup recording (if enabled)
        Rerun->>User: Launch browser viewer
    end
    
    loop Simulation Steps
        SimCfg->>OV: Update visualization
        SimCfg->>Newton: Update visualization
        SimCfg->>Rerun: Stream data
    end

Loading

[greptile-apps]

Additional Comments (2)

1. docs/source/features/visualization.rst, line 279 (link)

   syntax: 'complex' is mis-spelled as 'complex' but should be 'complexity'

2. docs/source/experimental-features/newton-physics-integration/limitations-and-known-bugs.rst, line 21 (link)

   style: Spot removed here but still appears in training-environments.rst:26 as Isaac-Velocity-Flat-Spot-v0. Check for consistency.

_{4 files reviewed, 2 comments}

_{Edit Code Review Agent Settings | Greptile}

[kellyguo11]

can we replace the existing https://isaac-sim.github.io/IsaacLab/main/source/experimental-features/newton-physics-integration/newton-visualizer.html with this file instead? the visualizers are not supported on main branch yet, so probably doesn't make sense to have this in the features section yet.

[kellyguo11]

let's also add the known issues on the cuda 999 error and broken CoM and Contact visualization