Remove stale Newton sim-to-real docs for unregistered G1 tasks

[AntoineRichard]

Description

The Newton sim-to-real walkthrough at docs/source/experimental-features/newton-physics-integration/sim-to-real.rst instructed users to run three task IDs:

• Isaac-Velocity-Flat-G1-v1
• Velocity-G1-Distillation-v1
• Velocity-G1-Student-Finetune-v1

None of these are registered in source. The two distillation tasks were removed from source/isaaclab_tasks/.../velocity/config/g1/__init__.py in #668; the Isaac-Velocity-Flat-G1-v1 ID never existed in gym.register at all (verified with git log --all -S"Isaac-Velocity-Flat-G1-v1").

Following the doc therefore reproducibly fails with:

Environment version `v1` for environment `Isaac-Velocity-Flat-G1` doesn't exist

This PR deletes the dead walkthrough and every reference to it:

• delete docs/source/experimental-features/newton-physics-integration/sim-to-real.rst
• drop the sim-to-real entry from the Newton index toctree and the prose pointer (Please see :ref:\here ``…) that linked into it
• drop the Isaac-Velocity-Flat-G1-v1 (Sim-to-Real tested) bullet from training-environments.rst
• drop the :ref:\sim2real`` "Further Resources" link from the gear-assembly policy walkthrough (the only other doc that targeted the deleted ref label)

A grep across the source tree confirms no remaining references to any of the dead task IDs or the sim2real ref label.

The companion sim-to-sim.rst doc is left in place — it only references Isaac-Velocity-Flat-G1-v0 (and -H1-v0, -Go2-v0, -Anymal-D-v0), all of which still exist.

Fixes # (no tracking issue — user-reported "environment v1 doesn't exist" error while following the published doc)

Type of change

• Bug fix (non-breaking change which fixes an issue)
• Documentation update

Screenshots

N/A — pure doc deletion / reference cleanup.

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation (this PR is the doc change)
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works (N/A — doc removal; verified by grep for dead refs returning empty)
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file (N/A — no source/<package>/ touched)
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[isaaclab-review-bot]

📋 Isaac Lab Review Bot — PR #5747

Summary: Clean documentation removal that addresses broken user-facing documentation.

✅ Review Assessment

Changes look good. This PR correctly removes stale documentation that referenced unregistered task IDs:

1. sim-to-real.rst (deleted) — The walkthrough referenced three task IDs that don't exist:

   • Isaac-Velocity-Flat-G1-v1 (never registered)
   • Velocity-G1-Distillation-v1 (removed in #668)
   • Velocity-G1-Student-Finetune-v1 (removed in #668)

2. index.rst — Prose pointer to :ref:\sim2real`` and toctree entry properly removed

3. training-environments.rst — Removed the Isaac-Velocity-Flat-G1-v1 (Sim-to-Real tested) bullet from the task list

4. gear_assembly_policy.rst — Removed the dangling :ref:\sim2real`` link from Further Resources

🔍 Verification Notes

• The companion sim-to-sim.rst doc is correctly preserved (it references only -v0 tasks which still exist)
• No orphaned references remain after this cleanup
• PR description confirms grep verification was performed for dead refs
• No code changes, just doc cleanup — no test impact expected

📊 CI Status

• pre-commit: ✅ Pass
• labeler: ✅ Pass
• Doc build and other checks: Pending (expected for fresh PR)

No blocking issues identified.

---

Automated review by Isaac Lab Review Bot

[greptile-apps]

Greptile Summary

This PR removes a stale Newton sim-to-real walkthrough (sim-to-real.rst) and all references to it, after the three task IDs it documented (Isaac-Velocity-Flat-G1-v1, Velocity-G1-Distillation-v1, Velocity-G1-Student-Finetune-v1) were either never registered or removed in a prior PR (#668). A grep across the repo confirms no remaining references to the deleted sim2real label or the unregistered task IDs.

• sim-to-real.rst deleted — the 92-line walkthrough defining the sim2real ref label and all three stale task IDs is removed entirely.
• index.rst updated — the sim-to-real toctree entry and the prose sentence linking to :ref:\sim2real`` are removed; the sentence now ends correctly with a period.
• training-environments.rst and gear_assembly_policy.rst updated — the Isaac-Velocity-Flat-G1-v1 (Sim-to-Real tested) bullet and the cross-doc sim2real reference link are each removed.

Confidence Score: 5/5

Safe to merge — pure documentation deletion with no source code changes.

All four changes are targeted removal of a broken walkthrough and its cross-references. A grep across the full repo confirms zero remaining references to the deleted sim2real label or the three unregistered task IDs. The companion sim-to-sim.rst doc is untouched and only references task IDs that still exist. No code, configs, or tests are affected.

No files require special attention.

Important Files Changed

Filename	Overview
docs/source/experimental-features/newton-physics-integration/sim-to-real.rst	Deleted in full; contained the stale sim2real label and three unregistered task IDs.
docs/source/experimental-features/newton-physics-integration/index.rst	Removes sim-to-real toctree entry and the prose sentence that linked to the deleted sim2real ref label; trailing period added correctly.
docs/source/experimental-features/newton-physics-integration/training-environments.rst	Removes the Isaac-Velocity-Flat-G1-v1 (Sim-to-Real tested) bullet that referenced the now-deleted task.
docs/source/policy_deployment/02_gear_assembly/gear_assembly_policy.rst	Removes the only remaining cross-doc :ref:sim2real pointer from the Further Resources section; remaining uses of sim-to-real in the file are generic phrases, not label references.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[Newton Physics Integration Docs] --> B[index.rst]
    B --> C[limitations-and-known-bugs]
    B --> D[solver-transitioning]
    B --> E[sim-to-sim.rst kept]
    B -. removed .-> F[sim-to-real.rst deleted]

    G[training-environments.rst] -. removed bullet .-> H[Isaac-Velocity-Flat-G1-v1 Sim-to-Real tested]
    G --> I[Isaac-Velocity-Flat-G1-v0 kept]

    J[gear_assembly_policy.rst Further Resources] -. removed link .-> K[ref sim2real]
    J --> L[External links kept]

    style F fill:#ffcccc,stroke:#cc0000
    style H fill:#ffcccc,stroke:#cc0000
    style K fill:#ffcccc,stroke:#cc0000
    style E fill:#ccffcc,stroke:#006600
    style I fill:#ccffcc,stroke:#006600

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