Remove unsupported Franka Reorient task

docs/source/_static/css/environment-browser.js

@@ -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"}],
@@ -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"],
@@ -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"],

examples/heterogeneous_scene.py

@@ -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",

source/isaaclab_tasks/changelog.d/maximiliank-remove-franka-reorient.major.rst

@@ -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.

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/__init__.py

@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Lift Franka reorient and lift environments."""
+"""Franka lift environment."""
 
 import gymnasium as gym
 
@@ -13,17 +13,6 @@
 # Register Gym environments.
 ##
 
-gym.register(
-    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",

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/franka_env_cfg.py

@@ -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
@@ -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")
 
@@ -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."""

source/isaaclab_tasks/test/core/test_lift_env_cfg.py

@@ -3,10 +3,11 @@
 #
 # 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
 
+import gymnasium as gym
 import pytest
 import torch
 import warp as wp
@@ -18,7 +19,7 @@
 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 (
@@ -65,10 +66,14 @@ 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_reorient_is_not_registered() -> None:
+    """The unsupported core Franka reorientation task is absent from the task registry."""
+    assert "Isaac-Reorient-Franka" not in gym.registry
+
+
+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")