Remove the newton_kamino preset from Reach tasks

[AntoineRichard]

Description

The Kamino solver preset was declared on the shared ReachPhysicsCfg, so every Reach task advertised physics=newton_kamino even though the preset was never validated for these environments.

This drops newton_kamino from ReachPhysicsCfg. Isaac-Reach-Franka, Isaac-Reach-Franka-OSC and Isaac-Reach-UR10 now expose only isaacsim_physx, newton_mjwarp and ovphysx; newton_mjwarp remains the default. The now-unused KaminoSolverCfg import is removed as well.

Documentation is updated in the three places that carry the selector list:

• the illustrated manipulation table in docs/source/overview/environments.rst
• the generated comprehensive table in the same file
• docs/source/_static/css/environment-browser.js

The prose task lists in kamino-solver.rst and hydra.rst name only the Cartpole/Ant tasks, so they need no change.

Type of change

• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• This change requires a documentation update

physics=newton_kamino on the three Reach tasks now errors instead of selecting Kamino. A .major.rst changelog fragment with migration guidance is included.

Screenshots

N/A

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

Notes on the checklist: no new tests are added — this removes a configuration entry rather than adding behavior, and the selector list is already covered by the registry-backed documentation check. The changelog is provided as a fragment under source/isaaclab_tasks/changelog.d/, per the current policy of not editing CHANGELOG.rst or extension.toml directly.

[greptile-apps]

Greptile Summary

The PR removes the unvalidated newton_kamino physics option from the shared Reach task configuration and documents the resulting breaking change.

• Removes the Kamino solver field and unused import from ReachPhysicsCfg.
• Updates the curated and generated Reach selector lists in the environment documentation and browser data.
• Adds migration guidance directing users to newton_mjwarp or a task-local Kamino declaration.

Confidence Score: 5/5

The PR appears safe to merge, with the configuration removal and all affected documentation surfaces aligned.

The removed preset is scoped to the intended Reach configurations, the remaining default is unchanged, and no current caller or generated documentation surface was found relying on the deleted field.

Important Files Changed

Filename	Overview
source/isaaclab_tasks/isaaclab_tasks/core/reach/reach_env_cfg.py	Removes the Kamino solver preset while preserving newton_mjwarp as the default; the affected inheritance scope matches the three stated Reach tasks.
docs/source/overview/environments.rst	Updates both curated and comprehensive environment tables to match the reduced Reach physics selector set.
docs/source/_static/css/environment-browser.js	Synchronizes the environment browser’s three Reach rows with the registry-backed selector set.
source/isaaclab_tasks/changelog.d/antoiner-remove-reach-kamino-preset.major.rst	Adds a correctly classified breaking-change fragment with explicit migration guidance.

_{Reviews (1): Last reviewed commit: "Remove the newton_kamino preset from Rea..." | Re-trigger Greptile}

[isaaclab-review-bot]

Isaac Lab Review Bot

The preset removal and documentation updates are internally consistent, but the PR immediately removes a public, documented selector without the required prior deprecation and categorizes the breaking changelog entry under the wrong heading.

• Design and architecture: Narrowing Reach tasks to validated physics backends is reasonable, but removing the shared ReachPhysicsCfg.newton_kamino preset must be staged through deprecation rather than delivered as an immediate breaking removal.
• API: ReachPhysicsCfg.newton_kamino is both a public configuration attribute and a documented physics= selector for three Reach tasks. Its deletion makes existing commands and derived configurations fail immediately, contrary to the repository's deprecation-first requirement. Retain and deprecate it for a release before removal.
• Implementation: The source and documentation selector lists are synchronized, but the .major.rst fragment places a **Breaking:** entry under Removed. Repository policy requires breaking entries under Changed; move the entry and retain its migration guidance there.

Minor fixes needed. Posted 2 actionable findings inline.

Automated review; human maintainers own approval decisions.

[isaaclab-review-bot]

🟡 Warning · Api — Public preset removed without prior deprecation

ReachPhysicsCfg.newton_kamino is a public config attribute and a documented physics= selector value for three Reach tasks. Dropping it (and the KaminoSolverCfg import) makes existing commands and derived configs error immediately, while the repository rule requires public symbols to be deprecated in a prior release before removal. Keep the preset for one release with a deprecation warning, then remove it.

[isaaclab-review-bot]

🔵 Suggestion · Implementation — Breaking entry should sit under Changed

The changelog rules state that breaking changes belong under Changed, prefixed with **Breaking:**. This fragment uses the **Breaking:** prefix but places the entry under a Removed heading, so the compiled release notes will categorize the change inconsistently with the policy. Move the entry (and its migration guidance) under a Changed heading.