What are the main challenges with integrating Newton's cloth simulation with Isaac Lab RL Framework?

[ShubhamGawande191]

I seem to be able to replicate simple cloth in Newton with their ModelBuilder but don't really understand what the issue in IsaacLab is?

Which parts of Isaac Lab would likely need the most modification? Would it mainly be InteractiveScene, GridCloner, NewtonManager?
What are the key hurdles preventing a cloth equivalent of replicate_physics=True