AntoineRichard · May 19, 2026 · May 15, 2026 · May 15, 2026 · May 15, 2026 · May 15, 2026
diff --git a/docs/index.rst b/docs/index.rst
@@ -142,7 +142,6 @@ Table of Contents
    :caption: Experimental Features
 
    source/experimental-features/bleeding-edge
-   source/experimental-features/newton-physics-integration/index
    source/experimental-features/visuo_tactile_sensor
 
 .. toctree::

diff --git a/docs/source/experimental-features/newton-physics-integration/index.rst b/docs/source/experimental-features/newton-physics-integration/index.rst
diff --git a/...experimental-features/newton-physics-integration/limitations-and-known-bugs.rst b/...experimental-features/newton-physics-integration/limitations-and-known-bugs.rst
diff --git a/docs/source/features/visualization.rst b/docs/source/features/visualization.rst
@@ -549,5 +549,5 @@ See Also
 
 - :doc:`/source/overview/core-concepts/renderers` — renderer backends (RTX, Newton Warp, OVRTX)
 - :doc:`/source/overview/core-concepts/scene_data_providers` — how scene data flows from physics to visualizers
-- :doc:`/source/experimental-features/newton-physics-integration/index` — Newton physics integration guide
+- :doc:`/source/overview/core-concepts/physical-backends/newton/index` — Newton backend guide
 - :doc:`/source/migration/migrating_to_isaaclab_3-0` — migration guide with ``--headless`` deprecation details
diff --git a/docs/source/overview/core-concepts/index.rst b/docs/source/overview/core-concepts/index.rst
@@ -8,6 +8,7 @@ This section we introduce core concepts in Isaac Lab.
 
 
   multi_backend_architecture
+  physical-backends/index
   schema_cfgs
   task_workflows
   actuators

diff --git a/docs/source/overview/core-concepts/multi_backend_architecture.rst b/docs/source/overview/core-concepts/multi_backend_architecture.rst
@@ -382,6 +382,6 @@ See Also
 - :doc:`/source/migration/migrating_to_isaaclab_3-0` — migration guide from Isaac Lab 2.x to the
   multi-backend architecture
 - :doc:`/source/features/hydra` — preset system for multi-backend environment configurations
-- :doc:`/source/experimental-features/newton-physics-integration/index` — Newton physics integration
-  guide
+- :doc:`physical-backends/index` — feature matrix and per-backend guides (PhysX, Newton, OvPhysX)
+- :doc:`physical-backends/newton/index` — Newton backend guide
 - :doc:`renderers` — renderer backend architecture
diff --git a/docs/source/overview/core-concepts/physical-backends/index.rst b/docs/source/overview/core-concepts/physical-backends/index.rst
@@ -0,0 +1,138 @@
+Physics Backends
+================
+
+Isaac Lab 3.0 supports multiple physics backends through a unified API. Each backend
+exposes the same :class:`~isaaclab.assets.Articulation`,
+:class:`~isaaclab.assets.RigidObject`, sensor and renderer surfaces, while differing
+in solver characteristics, maturity, and feature coverage. See
+:doc:`../multi_backend_architecture` for how the dispatch and factory machinery work
+under the hood.
+
+This page summarizes what each backend supports today; the sub-pages document
+backend-specific configuration, installation, and limitations.
+
+.. toctree::
+    :maxdepth: 2
+
+    physx/index
+    newton/index
+    ovphysx/index
+    solver-comparison
+
+
+Choosing a Backend
+------------------
+
+* **PhysX** — the historical default. Production-ready, broad coverage of Isaac Lab
+  features, and the reference for behavior parity. Selected via
+  :class:`~isaaclab_physx.physics.PhysxCfg`.
+* **Newton** — GPU-accelerated, Warp-native, and differentiable. The Newton
+  integration ships with the MuJoCo-Warp solver and beta support for the Kamino
+  solver. Selected via :class:`~isaaclab_newton.physics.NewtonCfg`.
+* **OvPhysX** — a **highly experimental** kit-less PhysX backend that reads
+  scene-level parameters from the USD ``PhysicsScene`` prim. Selected via
+  :class:`~isaaclab_ovphysx.physics.OvPhysxCfg`. Not recommended for general use yet.
+
+The active backend is selected at simulation construction time and applies to every
+asset, sensor, and renderer instantiated thereafter:
+
+.. code-block:: python
+
+    from isaaclab.sim import SimulationCfg
+    from isaaclab_physx.physics import PhysxCfg
+    from isaaclab_newton.physics import NewtonCfg, MJWarpSolverCfg
+
+    # PhysX (default)
+    sim_cfg = SimulationCfg(physics=PhysxCfg())
+
+    # Newton with MuJoCo-Warp
+    sim_cfg = SimulationCfg(physics=NewtonCfg(solver_cfg=MJWarpSolverCfg()))
+
+
+Feature Support Matrix
+----------------------
+
+The matrix below is intentionally coarse-grained. For exhaustive per-asset and
+per-task support, see each backend's own ``limitations`` page.
+
+.. list-table::
+    :header-rows: 1
+    :widths: 30 20 30 20
+
+    * - Feature
+      - PhysX
+      - Newton
+      - OvPhysX
+    * - Maturity
+      - Stable
+      - Beta
+      - Highly experimental
+    * - Default solver
+      - TGS (rigid body)
+      - MuJoCo-Warp
+      - PhysX (TGS / PGS via USD)
+    * - Alternative solvers
+      - PGS
+      - Kamino (beta), additional Newton solvers planned
+      - —
+    * - Differentiable
+      - No
+      - Yes (via Warp)
+      - No
+    * - Articulation API
+      - Yes
+      - Yes
+      - In-flight (PR #5459)
+    * - Rigid Object API
+      - Yes
+      - Yes
+      - Yes
+    * - Contact Sensor
+      - Yes
+      - Yes
+      - In-flight (PR #5422)
+    * - IMU
+      - Yes
+      - Yes
+      - In-flight (PR #5421)
+    * - Frame Transformer / Ray Caster / PVA / Joint-Wrench Sensor
+      - Yes
+      - Yes
+      - Not yet
+    * - Camera / Tiled Rendering
+      - Yes (RTX)
+      - Yes (Newton-Warp renderer)
+      - Not yet
+    * - Requires Isaac Sim
+      - Yes
+      - Optional (only for the Omniverse visualizer)
+      - Yes
+    * - Solver configuration source
+      - :class:`~isaaclab_physx.physics.PhysxCfg`
+      - :class:`~isaaclab_newton.physics.NewtonCfg` + solver config
+      - USD ``PhysicsScene`` + :class:`~isaaclab_ovphysx.physics.OvPhysxCfg`
+
+
+Selecting Backends per Task
+---------------------------
+
+Tasks that support more than one backend define a Hydra preset on
+``SimulationCfg.physics``. The example below shows the cartpole task config which
+declares all three backends side by side:
+
+.. code-block:: python
+
+    from isaaclab_physx.physics import PhysxCfg
+    from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
+    from isaaclab_ovphysx.physics import OvPhysxCfg
+
+    @configclass
+    class CartpolePhysicsCfg(PresetCfg):
+        default: PhysxCfg = PhysxCfg()
+        physx: PhysxCfg = PhysxCfg()
+        newton_mjwarp: NewtonCfg = NewtonCfg(solver_cfg=MJWarpSolverCfg())
+        ovphysx: OvPhysxCfg = OvPhysxCfg()
+
+Users then select the backend at the command line via ``presets=<name>`` or by
+overriding the physics field directly. See :ref:`hydra-backend-solver-presets` for
+the full Hydra interaction.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/index.rst b/docs/source/overview/core-concepts/physical-backends/newton/index.rst
@@ -0,0 +1,45 @@
+Newton Backend
+==============
+
+`Newton <https://newton-physics.github.io/newton/latest/guide/overview.html>`_ is a
+GPU-accelerated, extensible, and differentiable physics simulation engine designed
+for robotics, research, and advanced simulation workflows. Built on top of
+`NVIDIA Warp <https://nvidia.github.io/warp/>`_ and integrating MuJoCo Warp, Newton
+provides high-performance simulation, modern Python APIs, and a flexible
+architecture for both users and developers.
+
+Newton is an Open Source community-driven project with contributions from NVIDIA,
+Google Deep Mind, and Disney Research, managed through the Linux Foundation.
+
+Newton support in Isaac Lab is in beta and under active development. Many features
+are still maturing, and the Isaac Lab integration ships a focused, validated set of
+classic RL and flat-terrain locomotion environments. We have validated Newton
+simulation against PhysX by transferring learned policies in both directions and
+have successfully deployed a Newton-trained locomotion policy to a G1 robot.
+
+Newton can support `multiple solvers
+<https://newton-physics.github.io/newton/latest/api/newton_solvers.html>`_ for
+handling different types of physics simulation. The Isaac Lab integration ships
+two solver pages:
+
+* :doc:`mjwarp-solver` — the primary, validated solver path.
+* :doc:`kamino-solver` — beta support on selected classic tasks.
+
+During the beta phase, breaking changes and incomplete documentation are still
+expected. Official support and debugging assistance will follow once the framework
+reaches an official release.
+
+For an overview of how the multi-backend architecture works, including how to add a
+new backend, see :doc:`../../multi_backend_architecture`.
+
+
+.. toctree::
+  :maxdepth: 2
+  :titlesonly:
+
+  installation
+  supported-features
+  mjwarp-solver
+  kamino-solver
+  warp-environments
+  warp-env-migration
diff --git a/...wton-physics-integration/installation.rst → ...physical-backends/newton/installation.rst b/...wton-physics-integration/installation.rst → ...physical-backends/newton/installation.rst
@@ -1,7 +1,7 @@
 Installation
 ============
 
-Installing the Newton physics integration requires three things:
+Installing the Newton backend requires three things:
 
 1) The ``develop`` branch of Isaac Lab
 2) Ubuntu 22.04 or 24.04

diff --git a/...wton-physics-integration/using-kamino.rst → ...hysical-backends/newton/kamino-solver.rst b/...wton-physics-integration/using-kamino.rst → ...hysical-backends/newton/kamino-solver.rst
@@ -1,7 +1,7 @@
-.. _newton-using-kamino:
+.. _newton-kamino-solver:
 
-Using the Kamino Solver
-=======================
+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
@@ -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()

diff --git a/...sics-integration/solver-transitioning.rst → ...hysical-backends/newton/mjwarp-solver.rst b/...sics-integration/solver-transitioning.rst → ...hysical-backends/newton/mjwarp-solver.rst
@@ -1,11 +1,13 @@
-Solver Transitioning
-====================
-
-Transitioning to the Newton physics engine introduces new physics solvers that handle simulation using different numerical approaches.
-While Newton supports several different solvers, our initial focus for Isaac Lab is on using the
-MuJoCo-Warp solver from Google DeepMind. Isaac Lab also includes beta support for the Kamino
-solver on selected classic tasks. Kamino is selected through a physics preset rather than as a
-separate backend; see :ref:`hydra-backend-solver-presets` and :ref:`newton-using-kamino`.
+MJWarp Solver
+=============
+
+The MuJoCo-Warp solver from Google DeepMind is the primary, validated solver
+for the Newton backend in Isaac Lab. It is enabled by setting
+:attr:`~isaaclab_newton.physics.NewtonCfg.solver_cfg` to a
+:class:`~isaaclab_newton.physics.MJWarpSolverCfg`, usually exposed as the
+``newton_mjwarp`` physics preset on a task configuration. Newton ships with
+beta support for an alternative Kamino solver — see :doc:`kamino-solver` and
+:ref:`hydra-backend-solver-presets` for how presets are selected.
 
 .. note::