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Merged
kellyguo11 merged 5 commits into from
Sep 30, 2026
Merged

Remove unsupported Franka Reorient task #8168

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cef1493
Remove unsupported Franka Reorient task
maxkra15 Sep 29, 2026
7f1a666
Remove stale Reorient example and browser mapping
maxkra15 Sep 29, 2026
29b2549
Refresh generated environment browser metadata
maxkra15 Sep 29, 2026
9a38b9a
Refresh Franka benchmark browser preset
maxkra15 Sep 29, 2026
99b6d99
Remove redundant Reorient registry test
maxkra15 Sep 29, 2026
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6 changes: 2 additions & 4 deletions docs/source/_static/css/environment-browser.js
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Expand Up @@ -36,14 +36,13 @@
["Isaac-Reach-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik,diffik_abs,joint_pos,newton_ik", "tasks/manipulation/franka_reach.jpg", true, {"*": ["joint_pos"]}],
["Isaac-Reach-Franka-OSC", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik_abs", "tasks/manipulation/franka_reach.jpg", false, {"*": ["diffik_abs"]}],
["Isaac-Reach-UR10", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/ur10_reach.jpg", true],
["Isaac-RenderBenchmark-Franka-Cabinet", "", "isaacsim_physx,newton_mjwarp", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,rgb,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "", false, {"*": ["rgb"]}],
["Isaac-RenderBenchmark-Franka-Cabinet", "", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,rgb,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "", false, {"*": ["rgb"]}],
["Isaac-Reorient-Cube-Allegro-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/allegro_cube.jpg", true],
["Isaac-Reorient-Cube-Allegro", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "randomized,reset_only", "tasks/manipulation/allegro_cube.jpg", false, {"*": ["reset_only"]}],
["Isaac-Reorient-Cube-Shadow-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/shadow_cube.jpg"],
["Isaac-Reorient-Cube-Shadow", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "asymmetric,randomized"],
["Isaac-Reorient-Cube-Shadow-Camera-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "tasks/manipulation/shadow_cube.jpg", false, {"*": ["full"]}],
["Isaac-Reorient-Cube-Shadow-Camera", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,randomized,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "", false, {"*": ["full"]}],
["Isaac-Reorient-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", "", false, {"*": ["shapes"]}],
["Isaac-Reorient-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", "tasks/manipulation/kuka_allegro_reorient.jpg", false, {"*": ["shapes"]}],
["Isaac-Reorient-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera", "tasks/manipulation/kuka_allegro_reorient.jpg", false, {"*": ["rgb64", "shapes", "single_camera"]}],
["Isaac-Shadow-Handover-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/shadow_hand_over.jpg", false, {}, {"skrl": "MAPPO"}],
Expand Down Expand Up @@ -99,7 +98,7 @@
["IsaacContrib-Open-Drawer-Franka-IK-Abs", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
["IsaacContrib-Open-Drawer-Franka-IK-Rel", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
["IsaacContrib-Open-Drawer-OpenArm", "rl_games,rsl_rl", "", "", "", "tasks/manipulation/openarm_uni_open_drawer.jpg"],
["IsaacContrib-PickPlace-FixedBaseUpperBodyIK-G1-Abs", "", "", "", "", "tasks/manipulation/g1_pick_place_fixed_base.jpg"],
["IsaacContrib-PickPlace-FixedBaseUpperBodyIK-G1-Abs", "", "", "isaacsim_rtx,newton_renderer,ovrtx", "", "tasks/manipulation/g1_pick_place_fixed_base.jpg"],
["IsaacContrib-PickPlace-G1-InspireFTP-Abs", "", "", "", "", "tasks/manipulation/g1_pick_place.jpg"],
["IsaacContrib-PickPlace-GR1T2-Abs", "", "", "isaacsim_rtx,newton_renderer,ovrtx", "", "tasks/manipulation/gr-1_pick_place.jpg"],
["IsaacContrib-PickPlace-GR1T2-WaistEnabled-Abs", "", "", "", "", "tasks/manipulation/gr-1_pick_place_waist.jpg"],
Expand Down Expand Up @@ -336,7 +335,6 @@
[/Reach-UR10/, "tasks/manipulation/ur10_reach.jpg"],
[/Reorient-Cube-Allegro/, "tasks/manipulation/allegro_cube.jpg"],
[/Reorient-Cube-Shadow/, "tasks/manipulation/shadow_cube.jpg"],
[/Reorient-Franka/, "tasks/manipulation/franka_lift.jpg"],
[/Reorient-KukaAllegro/, "tasks/manipulation/kuka_allegro_reorient.jpg"],
[/Shadow-Handover/, "tasks/manipulation/shadow_hand_over.jpg"],
[/AnymalB/, "tasks/locomotion/anymal_b_flat.jpg"],
Expand Down
1 change: 0 additions & 1 deletion examples/heterogeneous_scene.py
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Expand Up @@ -95,7 +95,6 @@
"IsaacContrib-Navigation-Flat-AnymalC",
# arm and hand manipulation
"Isaac-Lift-Franka",
"Isaac-Reorient-Franka",
"Isaac-Lift-KukaAllegro",
"Isaac-Reorient-KukaAllegro",
"Isaac-Open-Drawer-Franka",
Expand Down
5 changes: 5 additions & 0 deletions source/isaaclab_tasks/changelog.d/maximiliank-remove-franka-reorient.major.rst
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@@ -0,0 +1,5 @@
Removed
^^^^^^^

* Removed the unsupported ``Isaac-Reorient-Franka`` task and its environment configuration. Migrate custom
reorientation experiments to a maintained task or keep a local copy of the old configuration.
13 changes: 1 addition & 12 deletions source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/__init__.py
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Expand Up @@ -3,7 +3,7 @@
#
# SPDX-License-Identifier: BSD-3-Clause

"""Lift Franka reorient and lift environments."""
"""Franka lift environment."""

import gymnasium as gym

Expand All @@ -13,17 +13,6 @@
# Register Gym environments.
##

gym.register(

@isaaclab-review-bot isaaclab-review-bot Bot Sep 29, 2026

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🟡 Warning · Compatibility — Public task and config removed without deprecation

Isaac-Reorient-Franka and FrankaReorientEnvCfg are public entry points: a registered gym ID listed in the environment browser and referenced by examples/heterogeneous_scene.py, and an importable configclass. Both vanish in one step, so existing gym.make, config-loading, and import callers fail with no transition. The contribution guide requires a deprecation and migration path for public removals; a .major changelog fragment is not one. Keep both functional with the established deprecation warning for the prescribed window.

id="Isaac-Reorient-Franka",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{__name__}.franka_env_cfg:FrankaReorientEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaPPORunnerCfg",
"default_agent": "rsl_rl",
},
)

gym.register(
id="Isaac-Lift-Franka",
entry_point="isaaclab.envs:ManagerBasedRLEnv",
Expand Down
15 changes: 2 additions & 13 deletions source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/franka_env_cfg.py
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Expand Up @@ -3,7 +3,7 @@
#
# SPDX-License-Identifier: BSD-3-Clause

"""Configuration for the Franka lift and reorient environments."""
"""Configuration for the Franka lift environment."""

from isaaclab.actuators import ImplicitActuatorCfg
from isaaclab.assets import ArticulationCfg
Expand Down Expand Up @@ -96,7 +96,7 @@

@configclass
class FrankaSceneCfg(lift.SceneCfg):
"""Franka scene for the lift and reorient tasks."""
"""Franka scene for the lift task."""

robot: ArticulationCfg = replace(FRANKA_PANDA_LIFT_CFG, prim_path="{ENV_REGEX_NS}/Robot")

Expand Down Expand Up @@ -259,17 +259,6 @@ def __post_init__(self):
self.terminations.abnormal_robot.params["asset_cfg"] = SceneEntityCfg("robot", joint_names="panda_joint.*")


@configclass
class FrankaReorientEnvCfg(FrankaMixinCfg, lift.ReorientEnvCfg):
"""Franka object reorientation environment."""

def play_mode(self):
super().play_mode()
# evaluate at the datasheet gripper speed: without the closing-speed randomization the hand
# damping caps closing at the real hand's jaw-speed limit of 0.2 m/s
self.events.gripper_closing_speed = None


@configclass
class FrankaLiftEnvCfg(FrankaMixinCfg, lift.LiftEnvCfg):
"""Franka object lifting environment."""
Expand Down
9 changes: 4 additions & 5 deletions source/isaaclab_tasks/test/core/test_lift_env_cfg.py
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Expand Up @@ -3,7 +3,7 @@
#
# SPDX-License-Identifier: BSD-3-Clause

"""Behavioral tests for the unified dexterous Lift and Reorient tasks."""
"""Behavioral tests for the dexterous Lift tasks."""

from types import SimpleNamespace

Expand All @@ -18,7 +18,7 @@
from isaaclab.utils.warp import ProxyArray

from isaaclab_tasks.core.lift import mdp
from isaaclab_tasks.core.lift.config.franka.franka_env_cfg import FrankaLiftEnvCfg, FrankaReorientEnvCfg
from isaaclab_tasks.core.lift.config.franka.franka_env_cfg import FrankaLiftEnvCfg
from isaaclab_tasks.core.lift.config.franka_soft.franka_soft_env_cfg import FrankaSoftEnvCfg
from isaaclab_tasks.core.lift.mdp.commands import pose_commands
from isaaclab_tasks.core.lift.mdp.commands.pose_commands import (
Expand Down Expand Up @@ -65,10 +65,9 @@ def test_franka_soft_robot_physics_variant_matches_backend(
assert cfg.scene.robot.spawn.variants == {"Physics": expected_physics}


@pytest.mark.parametrize("cfg_type", [FrankaLiftEnvCfg, FrankaReorientEnvCfg])
def test_franka_rigid_tasks_select_collision_meshes_for_reset_clearance(cfg_type) -> None:
def test_franka_rigid_task_selects_collision_meshes_for_reset_clearance() -> None:
"""Reset validation keeps the original arm meshes when the asset defaults to capsules."""
cfg = cfg_type()
cfg = FrankaLiftEnvCfg()
stage = Usd.Stage.CreateInMemory()
robot = stage.DefinePrim("/Robot", "Xform")
colliders = robot.GetVariantSets().AddVariantSet("Colliders")
Expand Down
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