[claude testing] Simplify Franka stack IK rel env inheritance hierarchy#3
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[claude testing] Simplify Franka stack IK rel env inheritance hierarchy#3
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Remove the intermediate joint-position environment layer so that FrankaCubeStackEnvCfg (IK rel) and FrankaCubeStackVisuomotorEnvCfg inherit directly from StackEnvCfg instead of going through the joint position env, reducing the hierarchy from 3 layers to 2.
peterd-NV
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Apr 8, 2026
..._tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg.py
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Address PR review feedback: robot semantic tags are not used in the IK relative environment and can be removed.
peterd-NV
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Description
Simplifies the class inheritance hierarchy for the Franka cube stacking environments used in the imitation learning pipeline. Previously,
FrankaCubeStackEnvCfg(IK relative) andFrankaCubeStackVisuomotorEnvCfgboth inherited from the joint-position environment (stack_joint_pos_env_cfg.FrankaCubeStackEnvCfg), creating a confusing 3-layer hierarchy where IK-based environments were based on a joint-position one. Both now inherit directly fromStackEnvCfg.Type of change
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Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there