Fixes warp-lang import and pip install documentation (#1495)

# Description

This change adds warp-lang as a module dependency for omni.isaac.lab. In
certain workflows, the warp module was not being found on
initialization. In addition, missing isaac sim pip modules are now added
to the documentation to make sure all dependencies are installed.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [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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docs/source/setup/installation/pip_installation.rst

@@ -88,11 +88,11 @@ compatibility issues with some Linux distributions. If you encounter any issues,
       pip install --upgrade pip
 
 
--  Then, install the Isaac Sim package
+-  Then, install the Isaac Sim packages
 
    .. code-block:: bash
 
-      pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com
+      pip install isaacsim==4.2.0.2 isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com
 
 
 - To install a minimal set of packages for running Isaac Lab only, the following command can be used. Note that you cannot run ``isaacsim`` with this.

source/extensions/omni.isaac.lab/setup.py

@@ -34,6 +34,7 @@ INSTALL_REQUIRES = [
     # image processing
     "transformers",
     "einops",  # needed for transformers, doesn't always auto-install
+    "warp-lang",
 ]
 
 PYTORCH_INDEX_URL = ["https://download.pytorch.org/whl/cu118"]