[Newton] Fix kit-less mode and Newton v0.2.2 compatibility#5124

Kripner wants to merge 3 commits intoisaac-sim:dev/newtonisaac-sim/IsaacLab:dev/newtonfrom

Kripner:pr/newton-kitless-fixesKripner/IsaacLab:pr/newton-kitless-fixesCopy head branch name to clipboard