[Newton] Updates Newton docs for beta integration (#3518)

# Description

As we prepare for the new beta updates with Newton, there are some new
features/environments supported in the Newton integration. This change
reflects these updates in the docs.


## Type of change

- Documentation update

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] 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

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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>

docs/source/experimental-features/newton-physics-integration/limitations-and-known-bugs.rst

@@ -9,28 +9,48 @@ We do not expect to be able to provide support or debugging assistance until the
 Here is a non-exhaustive list of capabilities currently supported in the Newton experimental feature branch grouped by extension:
 
 * isaaclab:
-    * Articulation API
+    * 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:
-    * Anymal-D
-    * Unitree H1 & G1
+    * 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
+        * 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
+            * Spot
             * Unitree G1
             * Unitree H1
-
-Capabilities beyond the above are not currently available.
-We expect to support APIs related to rigid bodies soon in order to unlock manipulation based environments.
+        * Manipulation reach
+            * Franka
+            * UR10

docs/source/experimental-features/newton-physics-integration/training-environments.rst

@@ -6,12 +6,28 @@ To run training, we follow the standard Isaac Lab workflow. If you are new to Is
 The currently supported tasks are as follows:
 
 * Isaac-Cartpole-Direct-v0
+* Isaac-Cartpole-RGB-Camera-Direct-v0 (requires ``--enable_cameras``)
+* Isaac-Cartpole-Depth-Camera-Direct-v0 (requires ``--enable_cameras``)
+* Isaac-Cartpole-v0
 * Isaac-Ant-Direct-v0
+* Isaac-Ant-v0
 * Isaac-Humanoid-Direct-v0
+* Isaac-Humanoid-v0
+* Isaac-Velocity-Flat-Anymal-B-v0
+* Isaac-Velocity-Flat-Anymal-C-v0
 * Isaac-Velocity-Flat-Anymal-D-v0
+* Isaac-Velocity-Flat-Cassie-v0
 * Isaac-Velocity-Flat-G1-v0
 * Isaac-Velocity-Flat-G1-v1 (Sim-to-Real tested)
 * Isaac-Velocity-Flat-H1-v0
+* Isaac-Velocity-Flat-Unitree-A1-v0
+* Isaac-Velocity-Flat-Unitree-Go1-v0
+* Isaac-Velocity-Flat-Unitree-Go2-v0
+* Isaac-Velocity-Flat-Spot-v0
+* Isaac-Reach-Franka-v0
+* Isaac-Reach-UR10-v0
+* Isaac-Repose-Cube-Allegro-Direct-v0
+
 
 To launch an environment and check that it loads as expected, we can start by trying it out with zero actions sent to its actuators.
 This can be done as follows, where ``TASK_NAME`` is the name of the task you’d like to run, and ``NUM_ENVS`` is the number of instances of the task that you’d like to create.