diff --git a/scripts/demos/arl_robot_1.py b/scripts/demos/arl_robot_1.py
index 987e6be6b2ec..bc9f368d11c4 100644
--- a/scripts/demos/arl_robot_1.py
+++ b/scripts/demos/arl_robot_1.py
@@ -3,37 +3,42 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Script to view ARL Robot 1.
+"""Script to view ARL Robot 1.
+
+.. code-block:: bash
+
+    # Usage with default PhysX physics and default kit visualizer.
+    ./isaaclab.sh -p scripts/demos/arl_robot_1.py
+
+    # Usage with Newton visualizer and default PhysX physics.
+    ./isaaclab.sh -p scripts/demos/arl_robot_1.py --visualizer newton
 
-Launch Isaac Sim Simulator first.
 """
 
-# Create argparser
+"""Parse CLI first so we can decide whether to launch Isaac Sim Kit."""
+
 import argparse
 
-from isaaclab.app import AppLauncher
+from isaaclab.app import add_launcher_args, launch_simulation
 
-parser = argparse.ArgumentParser(description="View ARL Robot 1 with Lee Position Controller.")
-# append AppLauncher cli args
-AppLauncher.add_app_launcher_args(parser)
+parser = argparse.ArgumentParser(
+    description="View ARL Robot 1 with Lee Position Controller.",
+    conflict_handler="resolve",
+)
+parser.add_argument("--physics", default="physx", choices=["physx"], help="Physics backend.")
+add_launcher_args(parser)
+parser.set_defaults(visualizer=["kit"])
 args_cli = parser.parse_args()
 
-# launch omniverse app
-app_launcher = AppLauncher(args_cli)
-simulation_app = app_launcher.app
-
-"""Rest everything follows."""
-
 import torch
 
-import omni.usd
-from pxr import Gf, UsdLux
-
 import isaaclab.sim as sim_utils
-from isaaclab.sim import SimulationContext
 
-from isaaclab_contrib.assets import Multirotor
+##
+# Pre-defined configs
+##
+from isaaclab.physics import PhysicsCfg
+
 from isaaclab_contrib.controllers.lee_position_control import LeePosController
 from isaaclab_contrib.controllers.lee_position_control_cfg import LeePosControllerCfg
 
@@ -42,72 +47,68 @@
 
 def main():
     """Main function to spawn arl_robot_1."""
-
-    # Create simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
-    sim = SimulationContext(sim_cfg)
-
-    # Create a dome light with light blue color
-    stage = omni.usd.get_context().get_stage()
-    dome_light = UsdLux.DomeLight.Define(stage, "/World/DomeLight")
-    dome_light.CreateColorAttr(Gf.Vec3f(0.53, 0.81, 0.92))  # Light blue
-    dome_light.CreateIntensityAttr(1000.0)
-
-    # Spawn ground plane
-    cfg = sim_utils.GroundPlaneCfg()
-    cfg.func("/World/defaultGroundPlane", cfg)
-
-    # Spawn robot
-    robot_cfg = ARL_ROBOT_1_CFG.replace(prim_path="/World/Robot")
-    robot_cfg.actuators["thrusters"].dt = sim_cfg.dt
-    robot = Multirotor(robot_cfg)
-
-    # Play the simulator
-    sim.reset()
-
-    # Create Lee position controller
-    controller_cfg = LeePosControllerCfg(
-        K_pos_range=((2.5, 2.5, 1.5), (3.5, 3.5, 2.0)),
-        K_vel_range=((2.5, 2.5, 1.5), (3.5, 3.5, 2.0)),
-        K_rot_range=((1.6, 1.6, 0.25), (1.85, 1.85, 0.4)),
-        K_angvel_range=((0.4, 0.4, 0.075), (0.5, 0.5, 0.09)),
-        max_inclination_angle_rad=1.0471975511965976,
-        max_yaw_rate=1.0471975511965976,
-    )
-    controller = LeePosController(controller_cfg, robot, num_envs=1, device=str(sim.device))
-
-    # Get allocation matrix and compute pseudoinverse
-    allocation_matrix = torch.tensor(robot_cfg.allocation_matrix, device=sim.device, dtype=torch.float32)
-    # allocation_matrix is (6, num_thrusters), we need pseudoinverse for wrench -> thrust
-    alloc_pinv = torch.linalg.pinv(allocation_matrix)  # Shape: (num_thrusters, 6)
-
-    # Position command: hover in place (zero position, zero yaw)
-    pos_command = torch.zeros((1, 4), device=sim.device)  # [x, y, z, yaw]
-    pos_command[0, 2] = 1.0  # Hover at 1 meter height
-
-    # Simulation loop
-    print("[INFO] Starting demo with Lee Position Controller. Press Ctrl+C to stop.")
-
-    while simulation_app.is_running():
-        # Compute wrench from velocity controller
-        wrench = controller.compute(pos_command)  # Shape: (1, 6)
-
-        # Allocate wrench to thrusters: thrust = pinv(A) @ wrench
-        thrust_cmd = torch.matmul(wrench, alloc_pinv.T)  # Shape: (1, num_thrusters)
-        thrust_cmd = thrust_cmd.clamp(min=0.0)  # Ensure non-negative thrust
-
-        # Apply thrust
-        robot.set_thrust_target(thrust_cmd)
-
-        # Step simulation
-        robot.write_data_to_sim()
-        sim.step()
-
-        # Update robot
-        robot.update(sim_cfg.dt)
-
-    # Cleanup
-    simulation_app.close()
+    with launch_simulation(cfg=PhysicsCfg(), launcher_args=args_cli) as physics_cfg:
+        # Create simulation context
+        sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device, physics=physics_cfg)
+        sim = sim_utils.SimulationContext(sim_cfg)
+
+        # Create a dome light with light blue color
+        light_cfg = sim_utils.DomeLightCfg(intensity=1000.0, color=(0.53, 0.81, 0.92))
+        light_cfg.func("/World/DomeLight", light_cfg)
+
+        # Spawn ground plane
+        ground_cfg = sim_utils.GroundPlaneCfg()
+        ground_cfg.func("/World/defaultGroundPlane", ground_cfg)
+
+        # Spawn robot
+        robot_cfg = ARL_ROBOT_1_CFG.replace(prim_path="/World/Robot")
+        robot_cfg.actuators["thrusters"].dt = sim_cfg.dt
+        robot = robot_cfg.class_type(robot_cfg)
+
+        # Play the simulator
+        sim.reset()
+
+        # Create Lee position controller
+        controller_cfg = LeePosControllerCfg(
+            K_pos_range=((2.5, 2.5, 1.5), (3.5, 3.5, 2.0)),
+            K_vel_range=((2.5, 2.5, 1.5), (3.5, 3.5, 2.0)),
+            K_rot_range=((1.6, 1.6, 0.25), (1.85, 1.85, 0.4)),
+            K_angvel_range=((0.4, 0.4, 0.075), (0.5, 0.5, 0.09)),
+            max_inclination_angle_rad=1.0471975511965976,
+            max_yaw_rate=1.0471975511965976,
+        )
+        controller = LeePosController(controller_cfg, robot, num_envs=1, device=str(sim.device))
+
+        # Get allocation matrix and compute pseudoinverse
+        allocation_matrix = torch.tensor(robot_cfg.allocation_matrix, device=sim.device, dtype=torch.float32)
+        # allocation_matrix is (6, num_thrusters), we need pseudoinverse for wrench -> thrust
+        alloc_pinv = torch.linalg.pinv(allocation_matrix)  # Shape: (num_thrusters, 6)
+
+        # Position command: hover in place (zero position, zero yaw)
+        pos_command = torch.zeros((1, 4), device=sim.device)  # [x, y, z, yaw]
+        pos_command[0, 2] = 1.0  # Hover at 1 meter height
+
+        # Simulation loop
+        print("[INFO] Starting demo with Lee Position Controller. Press Ctrl+C to stop.")
+
+        # Step while a visualizer window is still open (or none exist, e.g. headless); works for kit and newton.
+        while sim.is_headless_or_exist_active_visualizer():
+            # Compute wrench from position controller
+            wrench = controller.compute(pos_command)  # Shape: (1, 6)
+
+            # Allocate wrench to thrusters: thrust = pinv(A) @ wrench
+            thrust_cmd = torch.matmul(wrench, alloc_pinv.T)  # Shape: (1, num_thrusters)
+            thrust_cmd = thrust_cmd.clamp(min=0.0)  # Ensure non-negative thrust
+
+            # Apply thrust
+            robot.set_thrust_target(thrust_cmd)
+
+            # Step simulation
+            robot.write_data_to_sim()
+            sim.step()
+
+            # Update robot
+            robot.update(sim_cfg.dt)
 
 
 if __name__ == "__main__":
diff --git a/scripts/demos/arms.py b/scripts/demos/arms.py
index 7575ddb81a52..edaa0a7f0684 100644
--- a/scripts/demos/arms.py
+++ b/scripts/demos/arms.py
@@ -3,8 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-This script demonstrates different single-arm manipulators.
+"""This script demonstrates different single-arm manipulators.
 
 .. code-block:: bash
 
@@ -60,7 +59,7 @@
 
 
 def define_origins(num_origins: int, spacing: float) -> list[list[float]]:
-    """Defines the origins of the the scene."""
+    """Defines the origins of the scene."""
     # create tensor based on number of environments
     env_origins = torch.zeros(num_origins, 3)
     # create a grid of origins
diff --git a/scripts/demos/bin_packing.py b/scripts/demos/bin_packing.py
index 273f633fecd4..ba7fb6e1e5f3 100644
--- a/scripts/demos/bin_packing.py
+++ b/scripts/demos/bin_packing.py
@@ -50,13 +50,12 @@
 
 import torch
 
+import isaaclab.sim as sim_utils
+import isaaclab.utils.math as math_utils
+
 ##
 # Pre-defined configs
 ##
-from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
-
-import isaaclab.sim as sim_utils
-import isaaclab.utils.math as math_utils
 from isaaclab.assets import AssetBaseCfg, RigidObjectCfg, RigidObjectCollectionCfg
 from isaaclab.physics import PhysicsCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
@@ -64,6 +63,8 @@
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.configclass import configclass
 
+from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg  # isort:skip
+
 if TYPE_CHECKING:
     from isaaclab.assets import RigidObjectCollection
 
@@ -348,7 +349,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene) ->
         scene.update(sim_dt)
 
 
-def main() -> None:
+def main():
     """Main function.
 
     Returns:
diff --git a/scripts/demos/bipeds.py b/scripts/demos/bipeds.py
index 36a51e7def2e..8bd47a711e13 100644
--- a/scripts/demos/bipeds.py
+++ b/scripts/demos/bipeds.py
@@ -3,8 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-This script demonstrates how to simulate bipedal robots.
+"""This script demonstrates how to simulate bipedal robots.
 
 .. code-block:: bash
 
diff --git a/scripts/demos/deformables.py b/scripts/demos/deformables.py
index 1da56e1df004..eb2283135b5b 100644
--- a/scripts/demos/deformables.py
+++ b/scripts/demos/deformables.py
@@ -7,32 +7,33 @@
 
 .. code-block:: bash
 
-    # Usage
+    # Usage with default PhysX physics and default kit visualizer.
     ./isaaclab.sh -p scripts/demos/deformables.py
 
+    # Usage with Newton MJWarp backend and default kit visualizer.
+    ./isaaclab.sh -p scripts/demos/deformables.py --physics newton_mjwarp
+
 """
 
-"""Launch Isaac Sim Simulator first."""
+"""Parse CLI first so we can decide whether to launch Isaac Sim Kit."""
 
 
 import argparse
+from typing import TYPE_CHECKING
 
-from isaaclab.app import AppLauncher
+from isaaclab.app import add_launcher_args, launch_simulation
 
 # create argparser
-parser = argparse.ArgumentParser(description="This script demonstrates how to spawn deformable prims into the scene.")
-parser.add_argument("--backend", type=str, default="physx", choices=["physx", "newton"], help="Physics backend.")
-# append AppLauncher cli args
-AppLauncher.add_app_launcher_args(parser)
-# demos should open Kit visualizer by default
+parser = argparse.ArgumentParser(
+    description="This script demonstrates how to spawn deformable prims into the scene.",
+    conflict_handler="resolve",
+)
+parser.add_argument("--physics", default="physx", choices=["physx", "newton_mjwarp"], help="Physics backend.")
+# Newton visualizer not supported for deformables
+parser.add_argument("--visualizer", default="kit", choices=["kit"], help="Visualizer backend.")
+add_launcher_args(parser)
 parser.set_defaults(visualizer=["kit"])
-# parse the arguments
 args_cli = parser.parse_args()
-# launch omniverse app
-app_launcher = AppLauncher(args_cli)
-simulation_app = app_launcher.app
-
-"""Rest everything follows."""
 
 import random
 
@@ -41,10 +42,20 @@
 import tqdm
 
 import isaaclab.sim as sim_utils
-from isaaclab.assets import DeformableObject, DeformableObjectCfg
-from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
-if args_cli.backend == "newton":
+##
+# Pre-defined configs
+##
+from isaaclab_newton.physics import NewtonCfg  # isort:skip
+from isaaclab.assets import DeformableObjectCfg  # isort:skip
+from isaaclab.physics import PhysicsCfg  # isort:skip
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR  # isort:skip
+
+if TYPE_CHECKING:
+    from isaaclab.assets import DeformableObject
+
+if args_cli.physics == "newton_mjwarp":
+    from isaaclab_contrib.deformable.newton_manager_cfg import VBDSolverCfg  # isort:skip
     from isaaclab_newton.sim.schemas import NewtonDeformableBodyPropertiesCfg as DeformableBodyPropertiesCfg
     from isaaclab_newton.sim.spawners.materials import (
         NewtonDeformableBodyMaterialCfg as VolumeDeformableMaterialCfg,
@@ -165,13 +176,13 @@ def design_scene() -> tuple[dict, list[list[float]]]:
         obj_name = random.choice(list(objects_cfg.keys()))
         obj_cfg = objects_cfg[obj_name]
         # randomize the deformable material stiffness
-        if args_cli.backend == "newton" and obj_name == "cloth":
+        if args_cli.physics == "newton_mjwarp" and obj_name == "cloth":
             obj_cfg.physics_material.tri_ke = random.uniform(5e3, 5e4)
             obj_cfg.physics_material.tri_ka = random.uniform(5e3, 5e4)
         else:
             youngs_modulus = random.uniform(5e5, 1e8)
             poissons_ratio = random.uniform(0.25, 0.45)
-            if args_cli.backend == "newton":
+            if args_cli.physics == "newton_mjwarp":
                 obj_cfg.physics_material.k_mu = youngs_modulus / (2.0 * (1.0 + poissons_ratio))
                 obj_cfg.physics_material.k_lambda = (
                     youngs_modulus * poissons_ratio / ((1.0 + poissons_ratio) * (1.0 - 2.0 * poissons_ratio))
@@ -189,7 +200,7 @@ def design_scene() -> tuple[dict, list[list[float]]]:
                 spawn=obj_cfg,
                 init_state=DeformableObjectCfg.InitialStateCfg(pos=origin),
             )
-            scene_entities[f"Surface{idx:02d}"] = DeformableObject(cfg=cfg)
+            scene_entities[f"Surface{idx:02d}"] = cfg.class_type(cfg)
         else:
             prim_path = f"/World/Origin/Volume{idx:02d}"
             cfg = DeformableObjectCfg(
@@ -197,21 +208,21 @@ def design_scene() -> tuple[dict, list[list[float]]]:
                 spawn=obj_cfg,
                 init_state=DeformableObjectCfg.InitialStateCfg(pos=origin),
             )
-            scene_entities[f"Volume{idx:02d}"] = DeformableObject(cfg=cfg)
+            scene_entities[f"Volume{idx:02d}"] = cfg.class_type(cfg)
 
     # return the scene information
     return scene_entities, origins
 
 
-def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, DeformableObject]):
+def run_simulator(sim: "sim_utils.SimulationContext", entities: dict[str, "DeformableObject"]):
     """Runs the simulation loop."""
     # Define simulation stepping
     sim_dt = sim.get_physics_dt()
     sim_time = 0.0
     count = 0
 
-    # Simulate physics
-    while simulation_app.is_running():
+    # Step while a visualizer window is still open (or none exist, e.g. headless); works for kit and newton.
+    while sim.is_headless_or_exist_active_visualizer():
         # reset
         if count % int(3.0 / sim_dt) == 0:
             # reset counters
@@ -236,42 +247,33 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Deformab
 
 def main():
     """Main function."""
-    # Initialize the simulation context
-    if args_cli.backend == "newton":
-        from isaaclab_newton.physics import NewtonCfg
-
-        from isaaclab_contrib.deformable.newton_manager_cfg import VBDSolverCfg
-
-        physics_cfg = NewtonCfg(
-            solver_cfg=VBDSolverCfg(
-                iterations=5,
-                particle_enable_self_contact=True,
-                particle_self_contact_radius=0.0001,
-                particle_self_contact_margin=0.1,
-            ),
-            num_substeps=4,
-        )
-    else:
-        from isaaclab_physx.physics import PhysxCfg
-
-        physics_cfg = PhysxCfg()
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device, physics=physics_cfg)
-    sim = sim_utils.SimulationContext(sim_cfg)
-    # Set main camera
-    sim.set_camera_view([4.0, 4.0, 3.0], [0.5, 0.5, 0.0])
-
-    # Design scene by adding assets to it
-    scene_entities, _ = design_scene()
-    # Play the simulator
-    sim.reset()
-    # Now we are ready!
-    print("[INFO]: Setup complete...")
-    run_simulator(sim, scene_entities)
-    print("[INFO]: Simulation complete...")
+    with launch_simulation(cfg=PhysicsCfg(), launcher_args=args_cli) as physics_cfg:
+        if args_cli.physics == "newton_mjwarp":
+            physics_cfg = NewtonCfg(
+                solver_cfg=VBDSolverCfg(
+                    iterations=5,
+                    particle_enable_self_contact=True,
+                    particle_self_contact_radius=0.0001,
+                    particle_self_contact_margin=0.1,
+                ),
+                num_substeps=4,
+            )
+        # Initialize the simulation context
+        sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device, physics=physics_cfg)
+        sim = sim_utils.SimulationContext(sim_cfg)
+        # Set main camera
+        sim.set_camera_view([4.0, 4.0, 3.0], [0.5, 0.5, 0.0])
+
+        # Design scene by adding assets to it
+        scene_entities, _ = design_scene()
+        # Play the simulator
+        sim.reset()
+        # Now we are ready!
+        print("[INFO]: Setup complete...")
+        run_simulator(sim, scene_entities)
+        print("[INFO]: Simulation complete...")
 
 
 if __name__ == "__main__":
     # run the main function
     main()
-    # close sim app
-    simulation_app.close()
diff --git a/scripts/demos/h1_locomotion.py b/scripts/demos/h1_locomotion.py
index 04b394a13479..321bd331608d 100644
--- a/scripts/demos/h1_locomotion.py
+++ b/scripts/demos/h1_locomotion.py
@@ -43,8 +43,6 @@
 app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
-"""Rest everything follows."""
-
 import torch
 from rsl_rl.runners import OnPolicyRunner
 
diff --git a/scripts/demos/hands.py b/scripts/demos/hands.py
index 3f64104d945a..06cb367c90a1 100644
--- a/scripts/demos/hands.py
+++ b/scripts/demos/hands.py
@@ -3,8 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-This script demonstrates different dexterous hands.
+"""This script demonstrates different dexterous hands.
 
 .. code-block:: bash
 
@@ -58,7 +57,7 @@
 
 
 def define_origins(num_origins: int, spacing: float) -> list[list[float]]:
-    """Defines the origins of the the scene."""
+    """Defines the origins of the scene."""
     # create tensor based on number of environments
     env_origins = torch.zeros(num_origins, 3)
     # create a grid of origins
diff --git a/scripts/demos/haply_teleoperation.py b/scripts/demos/haply_teleoperation.py
index 9880cae46f2e..f28626ecb6c3 100644
--- a/scripts/demos/haply_teleoperation.py
+++ b/scripts/demos/haply_teleoperation.py
@@ -14,9 +14,18 @@
 
 .. code-block:: bash
 
-    # Usage
+    # Usage with default PhysX physics and default kit visualizer.
     ./isaaclab.sh -p scripts/demos/haply_teleoperation.py
 
+    # Usage with Newton visualizer and default PhysX physics.
+    ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --visualizer newton
+
+    # Usage with Newton (MJWarp) physics and default kit visualizer.
+    ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --physics newton_mjwarp
+
+    # Usage with Newton visualizer and Newton (MJWarp) physics.
+    ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --visualizer newton --physics newton_mjwarp
+
     # With custom WebSocket URI
     ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001
 
@@ -29,15 +38,20 @@
     3. Connect Inverse3 and VerseGrip devices
 """
 
-"""Launch Isaac Sim Simulator first."""
+"""Parse CLI first so we can decide whether to launch Isaac Sim Kit."""
 
 import argparse
+from typing import TYPE_CHECKING
 
-from isaaclab.app import AppLauncher
+from isaaclab.app import add_launcher_args, launch_simulation
 
 # add argparse arguments
-parser = argparse.ArgumentParser(description="Demonstration of Haply device teleoperation with Isaac Lab.")
+parser = argparse.ArgumentParser(
+    description="Demonstration of Haply device teleoperation with Isaac Lab.",
+    conflict_handler="resolve",
+)
 parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to spawn.")
+parser.add_argument("--physics", default="physx", choices=["physx", "newton_mjwarp"], help="Physics backend.")
 parser.add_argument(
     "--websocket_uri",
     type=str,
@@ -51,26 +65,35 @@
     help="Position sensitivity scaling factor.",
 )
 
-AppLauncher.add_app_launcher_args(parser)
+add_launcher_args(parser)
 parser.set_defaults(visualizer=["kit"])
 args_cli = parser.parse_args()
-app_launcher = AppLauncher(args_cli)
-simulation_app = app_launcher.app
 
 import numpy as np
 import torch
 
 import isaaclab.sim as sim_utils
-from isaaclab.assets import Articulation, AssetBaseCfg, RigidObject, RigidObjectCfg
+
+##
+# Pre-defined configs
+##
+from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
 from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg
-from isaaclab.devices import HaplyDevice, HaplyDeviceCfg
-from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
-from isaaclab.sensors import ContactSensor, ContactSensorCfg
+from isaaclab.devices import HaplyDeviceCfg
+from isaaclab.physics import PhysicsCfg
+from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.sensors import ContactSensorCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.configclass import configclass
 
 from isaaclab_assets import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
 
+if TYPE_CHECKING:
+    from isaaclab.assets import Articulation, RigidObject
+    from isaaclab.devices import HaplyDevice
+    from isaaclab.scene import InteractiveScene
+    from isaaclab.sensors import ContactSensor
+
 # Workspace mapping constants
 HAPLY_Z_OFFSET = 0.35
 WORKSPACE_LIMITS = {
@@ -141,7 +164,8 @@ class FrankaHaplySceneCfg(InteractiveSceneCfg):
         init_state=AssetBaseCfg.InitialStateCfg(pos=(0.50, 0.0, 1.05), rot=(0.707, 0, 0, 0.707)),
     )
 
-    robot: Articulation = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+    robot_cfg: ArticulationCfg = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+    robot = robot_cfg.class_type(robot_cfg)
     robot.init_state.pos = (-0.02, 0.0, 1.05)
     robot.spawn.activate_contact_sensors = True
 
@@ -176,9 +200,9 @@ class FrankaHaplySceneCfg(InteractiveSceneCfg):
 
 
 def run_simulator(
-    sim: sim_utils.SimulationContext,
-    scene: InteractiveScene,
-    haply_device: HaplyDevice,
+    sim: "sim_utils.SimulationContext",
+    scene: "InteractiveScene",
+    haply_device: "HaplyDevice",
 ):
     """Runs the simulation loop with Haply teleoperation."""
     sim_dt = sim.get_physics_dt()
@@ -246,7 +270,7 @@ def run_simulator(
     print("  Move handler: Control pose of the end-effector")
     print("  Button A: Open | Button B: Close | Button C: Rotate EE (60°)\n")
 
-    while simulation_app.is_running():
+    while sim.is_headless_or_exist_active_visualizer():
         if count % 10000 == 0:
             count = 1
             root_pose = robot.data.default_root_pose.torch.clone()
@@ -343,30 +367,30 @@ def run_simulator(
 
 def main():
     """Main function to set up and run the Haply teleoperation demo."""
-    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, dt=1 / 200)
-    sim = sim_utils.SimulationContext(sim_cfg)
-
-    # set the simulation view
-    sim.set_camera_view([1.6, 1.0, 1.70], [0.4, 0.0, 1.0])
-
-    scene_cfg = FrankaHaplySceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0)
-    scene = InteractiveScene(scene_cfg)
-
-    # Create Haply device
-    haply_cfg = HaplyDeviceCfg(
-        websocket_uri=args_cli.websocket_uri,
-        pos_sensitivity=args_cli.pos_sensitivity,
-        sim_device=args_cli.device,
-        limit_force=2.0,
-    )
-    haply_device = HaplyDevice(cfg=haply_cfg)
-    print(f"[INFO] Haply connected: {args_cli.websocket_uri}")
+    with launch_simulation(cfg=PhysicsCfg(), launcher_args=args_cli) as physics_cfg:
+        sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, dt=1 / 200, physics=physics_cfg)
+        sim = sim_utils.SimulationContext(sim_cfg)
+
+        # set the simulation view
+        sim.set_camera_view([1.6, 1.0, 1.70], [0.4, 0.0, 1.0])
+
+        scene_cfg = FrankaHaplySceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0)
+        scene = scene_cfg.class_type(scene_cfg)
+
+        # Create Haply device
+        haply_cfg = HaplyDeviceCfg(
+            websocket_uri=args_cli.websocket_uri,
+            pos_sensitivity=args_cli.pos_sensitivity,
+            sim_device=args_cli.device,
+            limit_force=2.0,
+        )
+        haply_device = haply_cfg.class_type(cfg=haply_cfg)
+        print(f"[INFO] Haply connected: {args_cli.websocket_uri}")
 
-    sim.reset()
+        sim.reset()
 
-    run_simulator(sim, scene, haply_device)
+        run_simulator(sim, scene, haply_device)
 
 
 if __name__ == "__main__":
     main()
-    simulation_app.close()
diff --git a/scripts/demos/markers.py b/scripts/demos/markers.py
index bd44a887d3ed..78e54c559675 100644
--- a/scripts/demos/markers.py
+++ b/scripts/demos/markers.py
@@ -7,42 +7,47 @@
 
 .. code-block:: bash
 
-    # Usage
+    # Usage with default PhysX physics and default kit visualizer.
     ./isaaclab.sh -p scripts/demos/markers.py
 
 """
 
-"""Launch Isaac Sim Simulator first."""
+"""Parse CLI first so we can decide whether to launch Isaac Sim Kit."""
 
 import argparse
+from typing import TYPE_CHECKING
 
-from isaaclab.app import AppLauncher
+from isaaclab.app import add_launcher_args, launch_simulation
 
 # add argparse arguments
-parser = argparse.ArgumentParser(description="This script demonstrates different types of markers.")
-# append AppLauncher cli args
-AppLauncher.add_app_launcher_args(parser)
-# demos should open Kit visualizer by default
+parser = argparse.ArgumentParser(
+    description="This script demonstrates different types of markers.",
+    conflict_handler="resolve",
+)
+parser.add_argument("--physics", default="physx", choices=["physx"], help="Physics backend.")
+# Newton visualizer not supported for markers
+parser.add_argument("--visualizer", default="kit", choices=["kit"], help="Visualizer backend.")
+add_launcher_args(parser)
 parser.set_defaults(visualizer=["kit"])
-# parse the arguments
 args_cli = parser.parse_args()
 
-# launch omniverse app
-app_launcher = AppLauncher(args_cli)
-simulation_app = app_launcher.app
-
-"""Rest everything follows."""
-
 import torch
 
 import isaaclab.sim as sim_utils
-from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
-from isaaclab.sim import SimulationContext
+
+##
+# Pre-defined configs
+##
+from isaaclab.markers.visualization_markers_cfg import VisualizationMarkersCfg
+from isaaclab.physics import PhysicsCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 from isaaclab.utils.math import quat_from_angle_axis
 
+if TYPE_CHECKING:
+    from isaaclab.markers import VisualizationMarkers
+
 
-def define_markers() -> VisualizationMarkers:
+def define_markers() -> "VisualizationMarkers":
     """Define markers with various different shapes."""
     marker_cfg = VisualizationMarkersCfg(
         prim_path="/Visuals/myMarkers",
@@ -90,67 +95,66 @@ def define_markers() -> VisualizationMarkers:
             ),
         },
     )
-    return VisualizationMarkers(marker_cfg)
+    return marker_cfg.class_type(marker_cfg)
 
 
 def main():
     """Main function."""
-    # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
-    sim = SimulationContext(sim_cfg)
-    # Set main camera
-    sim.set_camera_view([0.0, 18.0, 12.0], [0.0, 3.0, 0.0])
-
-    # Spawn things into stage
-    # Lights
-    cfg = sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
-    cfg.func("/World/Light", cfg)
-
-    # create markers
-    my_visualizer = define_markers()
-
-    # define a grid of positions where the markers should be placed
-    num_markers_per_type = 5
-    grid_spacing = 2.0
-    # Calculate the half-width and half-height
-    half_width = (num_markers_per_type - 1) / 2.0
-    half_height = (my_visualizer.num_prototypes - 1) / 2.0
-    # Create the x and y ranges centered around the origin
-    x_range = torch.arange(-half_width * grid_spacing, (half_width + 1) * grid_spacing, grid_spacing)
-    y_range = torch.arange(-half_height * grid_spacing, (half_height + 1) * grid_spacing, grid_spacing)
-    # Create the grid
-    x_grid, y_grid = torch.meshgrid(x_range, y_range, indexing="ij")
-    x_grid = x_grid.reshape(-1)
-    y_grid = y_grid.reshape(-1)
-    z_grid = torch.zeros_like(x_grid)
-    # marker locations
-    marker_locations = torch.stack([x_grid, y_grid, z_grid], dim=1)
-    marker_indices = torch.arange(my_visualizer.num_prototypes).repeat(num_markers_per_type)
-
-    # Play the simulator
-    sim.reset()
-    # Now we are ready!
-    print("[INFO]: Setup complete...")
-
-    # Yaw angle
-    yaw = torch.zeros_like(marker_locations[:, 0])
-    # Simulate physics
-    while simulation_app.is_running():
-        # rotate the markers around the z-axis for visualization
-        marker_orientations = quat_from_angle_axis(yaw, torch.tensor([0.0, 0.0, 1.0]))
-        # visualize
-        my_visualizer.visualize(marker_locations, marker_orientations, marker_indices=marker_indices)
-        # roll corresponding indices to show how marker prototype can be changed
-        if yaw[0].item() % (0.5 * torch.pi) < 0.01:
-            marker_indices = torch.roll(marker_indices, 1)
-        # perform step
-        sim.step()
-        # increment yaw
-        yaw += 0.01
+    with launch_simulation(cfg=PhysicsCfg(), launcher_args=args_cli) as physics_cfg:
+        # Load kit helper
+        sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device, physics=physics_cfg)
+        sim = sim_utils.SimulationContext(sim_cfg)
+        # Set main camera
+        sim.set_camera_view([0.0, 18.0, 12.0], [0.0, 3.0, 0.0])
+
+        # Spawn things into stage
+        # Lights
+        cfg = sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+        cfg.func("/World/Light", cfg)
+
+        # create markers
+        my_visualizer = define_markers()
+
+        # define a grid of positions where the markers should be placed
+        num_markers_per_type = 5
+        grid_spacing = 2.0
+        # Calculate the half-width and half-height
+        half_width = (num_markers_per_type - 1) / 2.0
+        half_height = (my_visualizer.num_prototypes - 1) / 2.0
+        # Create the x and y ranges centered around the origin
+        x_range = torch.arange(-half_width * grid_spacing, (half_width + 1) * grid_spacing, grid_spacing)
+        y_range = torch.arange(-half_height * grid_spacing, (half_height + 1) * grid_spacing, grid_spacing)
+        # Create the grid
+        x_grid, y_grid = torch.meshgrid(x_range, y_range, indexing="ij")
+        x_grid = x_grid.reshape(-1)
+        y_grid = y_grid.reshape(-1)
+        z_grid = torch.zeros_like(x_grid)
+        # marker locations
+        marker_locations = torch.stack([x_grid, y_grid, z_grid], dim=1)
+        marker_indices = torch.arange(my_visualizer.num_prototypes).repeat(num_markers_per_type)
+
+        # Play the simulator
+        sim.reset()
+        # Now we are ready!
+        print("[INFO]: Setup complete...")
+
+        # Yaw angle
+        yaw = torch.zeros_like(marker_locations[:, 0])
+        # Step while a visualizer window is still open (or none exist, e.g. headless); works for kit and newton.
+        while sim.is_headless_or_exist_active_visualizer():
+            # rotate the markers around the z-axis for visualization
+            marker_orientations = quat_from_angle_axis(yaw, torch.tensor([0.0, 0.0, 1.0]))
+            # visualize
+            my_visualizer.visualize(marker_locations, marker_orientations, marker_indices=marker_indices)
+            # roll corresponding indices to show how marker prototype can be changed
+            if yaw[0].item() % (0.5 * torch.pi) < 0.01:
+                marker_indices = torch.roll(marker_indices, 1)
+            # perform step
+            sim.step()
+            # increment yaw
+            yaw += 0.01
 
 
 if __name__ == "__main__":
     # run the main function
     main()
-    # close sim app
-    simulation_app.close()
diff --git a/scripts/demos/multi_asset.py b/scripts/demos/multi_asset.py
index 907c993e9549..be30806b76b6 100644
--- a/scripts/demos/multi_asset.py
+++ b/scripts/demos/multi_asset.py
@@ -7,62 +7,63 @@
 
 .. code-block:: bash
 
-    # Usage
-    ./isaaclab.sh -p scripts/demos/multi_asset.py --num_envs 2048
+    # Usage with default PhysX physics and default kit visualizer.
+    ./isaaclab.sh -p scripts/demos/multi_asset.py --num_envs 1024
+
+    # Usage with Newton visualizer and default PhysX physics.
+    ./isaaclab.sh -p scripts/demos/multi_asset.py --visualizer newton --num_envs 1024
+
+    # Usage with Newton (MJWarp) physics and default kit visualizer.
+    ./isaaclab.sh -p scripts/demos/multi_asset.py --physics newton_mjwarp --num_envs 1024
+
+    # Usage with Newton visualizer and Newton (MJWarp) physics.
+    ./isaaclab.sh -p scripts/demos/multi_asset.py --visualizer newton --physics newton_mjwarp --num_envs 1024
 
 """
 
 from __future__ import annotations
 
-"""Launch Isaac Sim Simulator first."""
-
+"""Parse CLI first so we can decide whether to launch Isaac Sim Kit."""
 
 import argparse
+from typing import TYPE_CHECKING
 
-from isaaclab.app import AppLauncher
+from isaaclab.app import add_launcher_args, launch_simulation
 
 # add argparse arguments
-parser = argparse.ArgumentParser(description="Demo on spawning different objects in multiple environments.")
+parser = argparse.ArgumentParser(
+    description="Demo on spawning different objects in multiple environments.",
+    conflict_handler="resolve",
+)
 parser.add_argument("--num_envs", type=int, default=512, help="Number of environments to spawn.")
-# append AppLauncher cli args
-AppLauncher.add_app_launcher_args(parser)
+parser.add_argument("--physics", default="physx", choices=["physx", "newton_mjwarp"], help="Physics backend.")
+add_launcher_args(parser)
 # demos should open Kit visualizer by default
 parser.set_defaults(visualizer=["kit"])
 # parse the arguments
 args_cli = parser.parse_args()
 
-# launch omniverse app
-app_launcher = AppLauncher(args_cli)
-simulation_app = app_launcher.app
+import random
 
-"""Rest everything follows."""
+import isaaclab.sim as sim_utils
 
-import random
+##
+# Pre-defined configs
+##
+from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg, RigidObjectCollectionCfg
+from isaaclab.physics import PhysicsCfg
+from isaaclab.scene import InteractiveSceneCfg
 
-from pxr import Gf, Sdf
+from isaaclab_assets.robots.anymal import ANYDRIVE_3_LSTM_ACTUATOR_CFG  # isort: skip
 
-import isaaclab.sim as sim_utils
-from isaaclab.assets import (
-    Articulation,
-    ArticulationCfg,
-    AssetBaseCfg,
-    RigidObject,
-    RigidObjectCfg,
-    RigidObjectCollection,
-    RigidObjectCollectionCfg,
-)
-from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
-from isaaclab.sim import SimulationContext
 from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.utils import Timer
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 from isaaclab.utils.configclass import configclass
 
-##
-# Pre-defined Configuration
-##
-
-from isaaclab_assets.robots.anymal import ANYDRIVE_3_LSTM_ACTUATOR_CFG  # isort: skip
+if TYPE_CHECKING:
+    from isaaclab.assets import Articulation, RigidObject, RigidObjectCollection
+    from isaaclab.scene import InteractiveScene
 
 
 ##
@@ -72,6 +73,8 @@
 
 def randomize_shape_color(prim_path_expr: str):
     """Randomize the color of the geometry."""
+    from pxr import Gf, Sdf
+
     # get stage handle
     stage = get_current_stage()
     # resolve prim paths for spawning and cloning
@@ -86,7 +89,8 @@ def randomize_shape_color(prim_path_expr: str):
             # Note: Just need to acquire the right attribute about the property you want to set
             # Here is an example on setting color randomly
             color_spec = prim_spec.GetAttributeAtPath(prim_path + "/geometry/material/Shader.inputs:diffuseColor")
-            color_spec.default = Gf.Vec3f(random.random(), random.random(), random.random())
+            if color_spec is not None:
+                color_spec.default = Gf.Vec3f(random.random(), random.random(), random.random())
 
 
 ##
@@ -111,7 +115,7 @@ class MultiObjectSceneCfg(InteractiveSceneCfg):
         prim_path="/World/envs/env_.*/Object",
         spawn=sim_utils.MultiAssetSpawnerCfg(
             assets_cfg=[
-                sim_utils.ConeCfg(
+                (sim_utils.CylinderCfg)(
                     radius=0.3,
                     height=0.6,
                     visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2),
@@ -166,7 +170,7 @@ class MultiObjectSceneCfg(InteractiveSceneCfg):
             ),
             "object_C": RigidObjectCfg(
                 prim_path="/World/envs/env_.*/Object_C",
-                spawn=sim_utils.ConeCfg(
+                spawn=sim_utils.CylinderCfg(
                     radius=0.1,
                     height=0.3,
                     visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
@@ -223,7 +227,7 @@ class MultiObjectSceneCfg(InteractiveSceneCfg):
 ##
 
 
-def run_simulator(sim: SimulationContext, scene: InteractiveScene):
+def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
     """Runs the simulation loop."""
     # Extract scene entities
     # note: we only do this here for readability.
@@ -233,8 +237,8 @@ def run_simulator(sim: SimulationContext, scene: InteractiveScene):
     # Define simulation stepping
     sim_dt = sim.get_physics_dt()
     count = 0
-    # Simulation loop
-    while simulation_app.is_running():
+    # Step while a visualizer window is still open (or none exist, e.g. headless); works for kit and newton.
+    while sim.is_headless_or_exist_active_visualizer():
         # Reset
         if count % 250 == 0:
             # reset counter
@@ -257,13 +261,11 @@ def run_simulator(sim: SimulationContext, scene: InteractiveScene):
             root_pose = robot.data.default_root_pose.torch.clone()
             root_pose[:, :3] += scene.env_origins
             robot.write_root_pose_to_sim_index(root_pose=root_pose)
-            root_vel = robot.data.default_root_vel.torch.clone()
+            root_vel = robot.data.default_root_vel.torch
             robot.write_root_velocity_to_sim_index(root_velocity=root_vel)
             # -- joint state
-            joint_pos, joint_vel = (
-                robot.data.default_joint_pos.torch.clone(),
-                robot.data.default_joint_vel.torch.clone(),
-            )
+            joint_pos = robot.data.default_joint_pos.torch
+            joint_vel = robot.data.default_joint_vel.torch
             robot.write_joint_position_to_sim_index(position=joint_pos)
             robot.write_joint_velocity_to_sim_index(velocity=joint_vel)
             # clear internal buffers
@@ -284,33 +286,35 @@ def run_simulator(sim: SimulationContext, scene: InteractiveScene):
 
 def main():
     """Main function."""
-    # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
-    sim = SimulationContext(sim_cfg)
-    # Set main camera
-    sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])
-
-    # Design scene
-    scene_cfg = MultiObjectSceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0, replicate_physics=True)
-    with Timer("[INFO] Time to create scene: "):
-        scene = InteractiveScene(scene_cfg)
-
-    with Timer("[INFO] Time to randomize scene: "):
-        # DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE!
-        # Note: Just need to acquire the right attribute about the property you want to set
-        # Here is an example on setting color randomly
-        randomize_shape_color(scene_cfg.object.prim_path)
-
-    # Play the simulator
-    sim.reset()
-    # Now we are ready!
-    print("[INFO]: Setup complete...")
-    # Run the simulator
-    run_simulator(sim, scene)
+    with launch_simulation(cfg=PhysicsCfg(), launcher_args=args_cli) as physics_cfg:
+        sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device, physics=physics_cfg)
+        sim = sim_utils.SimulationContext(sim_cfg)
+        # Set main camera
+        sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])
+
+        # Design scene
+        scene_cfg = MultiObjectSceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0, replicate_physics=True)
+        if args_cli.physics == "newton_mjwarp":
+            # Newton/MJWarp requires a uniform layout, not supporting different setups across environments.
+            scene_cfg.object.spawn.assets_cfg = scene_cfg.object.spawn.assets_cfg[1:2]
+            scene_cfg.robot.spawn.usd_path = scene_cfg.robot.spawn.usd_path[0]
+        with Timer("[INFO] Time to create scene: "):
+            scene = scene_cfg.class_type(scene_cfg)
+
+        with Timer("[INFO] Time to randomize scene: "):
+            # DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE!
+            # Note: Just need to acquire the right attribute about the property you want to set
+            # Here is an example on setting color randomly
+            randomize_shape_color(scene_cfg.object.prim_path)
+
+        # Play the simulator
+        sim.reset()
+        # Now we are ready!
+        print("[INFO]: Setup complete...")
+        # Run the simulator
+        run_simulator(sim, scene)
 
 
 if __name__ == "__main__":
     # run the main execution
     main()
-    # close sim app
-    simulation_app.close()
diff --git a/scripts/demos/pick_and_place.py b/scripts/demos/pick_and_place.py
index aa99cb1480fd..b55fd5ca44ec 100644
--- a/scripts/demos/pick_and_place.py
+++ b/scripts/demos/pick_and_place.py
@@ -23,8 +23,6 @@
 app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
-"""Rest everything follows."""
-
 from collections.abc import Sequence
 
 import torch
diff --git a/scripts/demos/procedural_terrain.py b/scripts/demos/procedural_terrain.py
index 98bcd0276789..6e26a8b26536 100644
--- a/scripts/demos/procedural_terrain.py
+++ b/scripts/demos/procedural_terrain.py
@@ -27,14 +27,20 @@
 
 """
 
-"""Launch Isaac Sim Simulator first."""
+from __future__ import annotations
+
+"""Parse CLI first so we can decide whether to launch Isaac Sim Kit."""
 
 import argparse
+from typing import TYPE_CHECKING
 
-from isaaclab.app import AppLauncher
+from isaaclab.app import add_launcher_args, launch_simulation
 
 # add argparse arguments
-parser = argparse.ArgumentParser(description="This script demonstrates procedural terrain generation.")
+parser = argparse.ArgumentParser(
+    description="This script demonstrates procedural terrain generation.",
+    conflict_handler="resolve",
+)
 parser.add_argument(
     "--color_scheme",
     type=str,
@@ -54,33 +60,30 @@
     default=False,
     help="Whether to show the flat patches computed during the terrain generation.",
 )
-# append AppLauncher cli args
-AppLauncher.add_app_launcher_args(parser)
-# demos should open Kit visualizer by default
+parser.add_argument("--physics", default="physx", choices=["physx"], help="Physics backend.")
+add_launcher_args(parser)
 parser.set_defaults(visualizer=["kit"])
-# parse the arguments
 args_cli = parser.parse_args()
 
-# launch omniverse app
-app_launcher = AppLauncher(args_cli)
-simulation_app = app_launcher.app
-
-"""Rest everything follows."""
-
 import random
 
 import torch
 
 import isaaclab.sim as sim_utils
-from isaaclab.assets import AssetBase
-from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
-from isaaclab.terrains import FlatPatchSamplingCfg, TerrainImporter, TerrainImporterCfg
 
 ##
 # Pre-defined configs
 ##
+from isaaclab.markers.visualization_markers_cfg import VisualizationMarkersCfg
+from isaaclab.physics import PhysicsCfg
+from isaaclab.terrains.sub_terrain_cfg import FlatPatchSamplingCfg
+from isaaclab.terrains.terrain_importer_cfg import TerrainImporterCfg
+
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG  # isort:skip
 
+if TYPE_CHECKING:
+    from isaaclab.assets import AssetBase
+
 
 def design_scene() -> tuple[dict, torch.Tensor]:
     """Designs the scene."""
@@ -115,7 +118,7 @@ def design_scene() -> tuple[dict, torch.Tensor]:
     if args_cli.color_scheme in ["height", "random"]:
         terrain_importer_cfg.visual_material = None
     # Create terrain importer
-    terrain_importer = TerrainImporter(terrain_importer_cfg)
+    terrain_importer = terrain_importer_cfg.class_type(terrain_importer_cfg)
 
     # Show the flat patches computed
     if args_cli.show_flat_patches:
@@ -127,7 +130,7 @@ def design_scene() -> tuple[dict, torch.Tensor]:
                 height=0.1,
                 visual_material=sim_utils.GlassMdlCfg(glass_color=(random.random(), random.random(), random.random())),
             )
-        flat_patches_visualizer = VisualizationMarkers(vis_cfg)
+        flat_patches_visualizer = vis_cfg.class_type(vis_cfg)
 
         # Visualize the flat patches
         all_patch_locations = []
@@ -147,31 +150,30 @@ def design_scene() -> tuple[dict, torch.Tensor]:
 
 def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, AssetBase], origins: torch.Tensor):
     """Runs the simulation loop."""
-    # Simulate physics
-    while simulation_app.is_running():
+    # Step while a visualizer window is still open (or none exist, e.g. headless); works for kit and newton.
+    while sim.is_headless_or_exist_active_visualizer():
         # perform step
         sim.step()
 
 
 def main():
     """Main function."""
-    # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
-    sim = sim_utils.SimulationContext(sim_cfg)
-    # Set main camera
-    sim.set_camera_view(eye=[5.0, 5.0, 5.0], target=[0.0, 0.0, 0.0])
-    # design scene
-    scene_entities, scene_origins = design_scene()
-    # Play the simulator
-    sim.reset()
-    # Now we are ready!
-    print("[INFO]: Setup complete...")
-    # Run the simulator
-    run_simulator(sim, scene_entities, scene_origins)
+    with launch_simulation(cfg=PhysicsCfg(), launcher_args=args_cli) as physics_cfg:
+        # Initialize the simulation context
+        sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device, physics=physics_cfg)
+        sim = sim_utils.SimulationContext(sim_cfg)
+        # Set main camera
+        sim.set_camera_view(eye=[15.0, 15.0, 15.0], target=[0.0, 0.0, 0.0])
+        # design scene
+        scene_entities, scene_origins = design_scene()
+        # Play the simulator
+        sim.reset()
+        # Now we are ready!
+        print("[INFO]: Setup complete...")
+        # Run the simulator
+        run_simulator(sim, scene_entities, scene_origins)
 
 
 if __name__ == "__main__":
     # run the main function
     main()
-    # close sim app
-    simulation_app.close()
diff --git a/scripts/demos/quadcopter.py b/scripts/demos/quadcopter.py
index 2c8215cbc152..1558960812c8 100644
--- a/scripts/demos/quadcopter.py
+++ b/scripts/demos/quadcopter.py
@@ -3,8 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-This script demonstrates how to simulate a quadcopter.
+"""This script demonstrates how to simulate a quadcopter.
 
 .. code-block:: bash
 
diff --git a/scripts/demos/quadrupeds.py b/scripts/demos/quadrupeds.py
index 901c91e0b425..02aeb864f358 100644
--- a/scripts/demos/quadrupeds.py
+++ b/scripts/demos/quadrupeds.py
@@ -3,8 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-This script demonstrates different legged robots.
+"""This script demonstrates different legged robots.
 
 .. code-block:: bash
 
diff --git a/source/isaaclab/isaaclab/markers/visualization_markers_cfg.py b/source/isaaclab/isaaclab/markers/visualization_markers_cfg.py
index b7cc2002ccf0..6c6b98ec3268 100644
--- a/source/isaaclab/isaaclab/markers/visualization_markers_cfg.py
+++ b/source/isaaclab/isaaclab/markers/visualization_markers_cfg.py
@@ -8,10 +8,14 @@
 from __future__ import annotations
 
 from dataclasses import MISSING
+from typing import TYPE_CHECKING
 
 from isaaclab.sim.spawners import SpawnerCfg
 from isaaclab.utils.configclass import configclass
 
+if TYPE_CHECKING:
+    from isaaclab.markers import VisualizationMarkers
+
 
 @configclass
 class VisualizationMarkersCfg:
@@ -26,3 +30,9 @@ class VisualizationMarkersCfg:
     The key is the name of the marker, and the value is the configuration of the marker.
     The key is used to identify the marker in the class.
     """
+
+    class_type: type[VisualizationMarkers] | str = "{DIR}.visualization_markers:VisualizationMarkers"
+    """The class to use for the visualization markers.
+
+    Defaults to :class:`isaaclab.markers.VisualizationMarkers`.
+    """
diff --git a/source/isaaclab/isaaclab/terrains/utils.py b/source/isaaclab/isaaclab/terrains/utils.py
index 766fe13c6f9c..739f80940021 100644
--- a/source/isaaclab/isaaclab/terrains/utils.py
+++ b/source/isaaclab/isaaclab/terrains/utils.py
@@ -52,7 +52,8 @@ def color_meshes_by_height(meshes: list[trimesh.Trimesh], **kwargs) -> trimesh.T
         # clip lower and upper bounds to have better color mapping
         heights_normalized = np.clip(heights_normalized, 0.1, 0.9)
         # Get the color for each vertex based on the height
-        color_map = kwargs.pop("color_map", "turbo")
+        # Valid options are ["viridis", "inferno", "plasma", "magma"]
+        color_map = kwargs.pop("color_map", "inferno")
         colors = trimesh.visual.color.interpolate(heights_normalized, color_map=color_map)
         # Set the vertex colors
         mesh.visual.vertex_colors = colors