Updates pip installation instructions (isaac-sim#484)

Updates pip installation instructions

docs/source/how-to/write_articulation_cfg.rst

@@ -46,7 +46,7 @@ The last two parameters are optional. If not specified, they are kept at their d
 
 .. literalinclude:: ../../../source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py
    :language: python
-   :lines: 15-31
+   :lines: 19-35
    :dedent:
 
 To import articulation from a URDF file instead of a USD file, you can replace the
@@ -74,7 +74,7 @@ Meanwhile, the joint positions and velocities are set to 0.0.
 
 .. literalinclude:: ../../../source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py
    :language: python
-   :lines: 32-34
+   :lines: 36-38
    :dedent:
 
 Defining the actuator configuration
@@ -96,7 +96,7 @@ to combine them into a single actuator model.
 
    .. literalinclude:: ../../../source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py
       :language: python
-      :lines: 35-45
+      :lines: 39-49
       :dedent:
 
 

docs/source/setup/installation/pip_installation.rst

@@ -12,6 +12,11 @@ Installing Isaac Sim
    `Isaac Sim Forums <https://docs.omniverse.nvidia.com/isaacsim/latest/common/feedback.html>`_
    and install Isaac Sim from pre-built binaries.
 
+.. note::
+
+   Installing Isaac Sim with pip requires GLIBC 2.34+ version compatibility.
+   To check the GLIBC version on your system, use command ``ldd --version``.
+
 
 -  To use the pip installation approach for Isaac Sim, we recommend first creating a virtual environment.
    Ensure that the python version of the virtual environment is **Python 3.10**.
@@ -57,7 +62,7 @@ Installing Isaac Sim
 
    .. code-block:: bash
 
-      pip install isaacsim-rl isaacsim-replicator --index-url https://pypi.nvidia.com/
+      pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app --extra-index-url https://pypi.nvidia.com
 
 
 Installing Isaac Lab