[claude testing] Simplify Franka stack IK rel env inheritance hierarchy

source/isaaclab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "1.5.19"
+version = "1.5.20"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,18 @@
 Changelog
 ---------
 
+1.5.20 (2026-04-08)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Simplified inheritance hierarchy for :class:`~isaaclab_tasks.manager_based.manipulation.stack.config.franka.stack_ik_rel_env_cfg.FrankaCubeStackEnvCfg`
+  and :class:`~isaaclab_tasks.manager_based.manipulation.stack.config.franka.stack_ik_rel_visuomotor_env_cfg.FrankaCubeStackVisuomotorEnvCfg`
+  to inherit directly from :class:`~isaaclab_tasks.manager_based.manipulation.stack.stack_env_cfg.StackEnvCfg`,
+  removing the intermediate joint-position environment layer.
+
+
 1.5.19 (2026-04-06)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg.py

@@ -3,33 +3,48 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-
+from isaaclab.assets import RigidObjectCfg
 from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers import TerminationTermCfg as DoneTerm
+from isaaclab.sensors import FrameTransformerCfg
+from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
+from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
+from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
 from isaaclab.utils import configclass
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
-from isaaclab_tasks.manager_based.manipulation.stack.stack_env_cfg import mdp
+from isaaclab_tasks.manager_based.manipulation.stack import mdp
+from isaaclab_tasks.manager_based.manipulation.stack.stack_env_cfg import StackEnvCfg
 
-from . import stack_joint_pos_env_cfg
+from .stack_joint_pos_env_cfg import EventCfg
 
 ##
 # Pre-defined configs
 ##
+from isaaclab.markers.config import FRAME_MARKER_CFG  # isort: skip
 from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
 
 
 @configclass
-class FrankaCubeStackEnvCfg(stack_joint_pos_env_cfg.FrankaCubeStackEnvCfg):
+class FrankaCubeStackEnvCfg(StackEnvCfg):
     def __post_init__(self):
         # post init of parent
         super().__post_init__()
 
-        # Set Franka as robot
-        # We switch here to a stiffer PD controller for IK tracking to be better.
+        # Set events
+        self.events = EventCfg()
+
+        # Set Franka as robot with stiffer PD controller for IK tracking
         self.scene.robot = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
 
+        # Add semantics to table
+        self.scene.table.spawn.semantic_tags = [("class", "table")]
+
+        # Add semantics to ground
+        self.scene.plane.semantic_tags = [("class", "ground")]
+
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
             asset_name="robot",
@@ -39,6 +54,91 @@ def __post_init__(self):
             scale=0.5,
             body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, 0.107]),
         )
+        self.actions.gripper_action = mdp.BinaryJointPositionActionCfg(
+            asset_name="robot",
+            joint_names=["panda_finger.*"],
+            open_command_expr={"panda_finger_.*": 0.04},
+            close_command_expr={"panda_finger_.*": 0.0},
+        )
+        # utilities for gripper status check
+        self.gripper_joint_names = ["panda_finger_.*"]
+        self.gripper_open_val = 0.04
+        self.gripper_threshold = 0.005
+
+        # Rigid body properties of each cube
+        cube_properties = RigidBodyPropertiesCfg(
+            solver_position_iteration_count=16,
+            solver_velocity_iteration_count=1,
+            max_angular_velocity=1000.0,
+            max_linear_velocity=1000.0,
+            max_depenetration_velocity=5.0,
+            disable_gravity=False,
+        )
+
+        # Set each stacking cube deterministically
+        self.scene.cube_1 = RigidObjectCfg(
+            prim_path="{ENV_REGEX_NS}/Cube_1",
+            init_state=RigidObjectCfg.InitialStateCfg(pos=[0.4, 0.0, 0.0203], rot=[0, 0, 0, 1]),
+            spawn=UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/blue_block.usd",
+                scale=(1.0, 1.0, 1.0),
+                rigid_props=cube_properties,
+                semantic_tags=[("class", "cube_1")],
+            ),
+        )
+        self.scene.cube_2 = RigidObjectCfg(
+            prim_path="{ENV_REGEX_NS}/Cube_2",
+            init_state=RigidObjectCfg.InitialStateCfg(pos=[0.55, 0.05, 0.0203], rot=[0, 0, 0, 1]),
+            spawn=UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/red_block.usd",
+                scale=(1.0, 1.0, 1.0),
+                rigid_props=cube_properties,
+                semantic_tags=[("class", "cube_2")],
+            ),
+        )
+        self.scene.cube_3 = RigidObjectCfg(
+            prim_path="{ENV_REGEX_NS}/Cube_3",
+            init_state=RigidObjectCfg.InitialStateCfg(pos=[0.60, -0.1, 0.0203], rot=[0, 0, 0, 1]),
+            spawn=UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/green_block.usd",
+                scale=(1.0, 1.0, 1.0),
+                rigid_props=cube_properties,
+                semantic_tags=[("class", "cube_3")],
+            ),
+        )
+
+        # Listens to the required transforms
+        marker_cfg = FRAME_MARKER_CFG.copy()
+        marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
+        marker_cfg.prim_path = "/Visuals/FrameTransformer"
+        self.scene.ee_frame = FrameTransformerCfg(
+            prim_path="{ENV_REGEX_NS}/Robot/panda_link0",
+            debug_vis=False,
+            visualizer_cfg=marker_cfg,
+            target_frames=[
+                FrameTransformerCfg.FrameCfg(
+                    prim_path="{ENV_REGEX_NS}/Robot/panda_hand",
+                    name="end_effector",
+                    offset=OffsetCfg(
+                        pos=[0.0, 0.0, 0.1034],
+                    ),
+                ),
+                FrameTransformerCfg.FrameCfg(
+                    prim_path="{ENV_REGEX_NS}/Robot/panda_rightfinger",
+                    name="tool_rightfinger",
+                    offset=OffsetCfg(
+                        pos=(0.0, 0.0, 0.046),
+                    ),
+                ),
+                FrameTransformerCfg.FrameCfg(
+                    prim_path="{ENV_REGEX_NS}/Robot/panda_leftfinger",
+                    name="tool_leftfinger",
+                    offset=OffsetCfg(
+                        pos=(0.0, 0.0, 0.046),
+                    ),
+                ),
+            ],
+        )
 
 
 @configclass

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py

@@ -4,29 +4,35 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import isaaclab.sim as sim_utils
+from isaaclab.assets import RigidObjectCfg
 from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.sensors import CameraCfg
+from isaaclab.sensors import CameraCfg, FrameTransformerCfg
+from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
+from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
+from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
 from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, NVIDIA_NUCLEUS_DIR
 
 from isaaclab_tasks.manager_based.manipulation.stack import mdp
 from isaaclab_tasks.manager_based.manipulation.stack.mdp import franka_stack_events
+from isaaclab_tasks.manager_based.manipulation.stack.stack_env_cfg import StackEnvCfg
 
-from . import stack_joint_pos_env_cfg
+from .stack_joint_pos_env_cfg import EventCfg as BaseEventCfg
 
 ##
 # Pre-defined configs
 ##
+from isaaclab.markers.config import FRAME_MARKER_CFG  # isort: skip
 from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
 
 
 @configclass
-class EventCfg(stack_joint_pos_env_cfg.EventCfg):
+class EventCfg(BaseEventCfg):
     """Configuration for events."""
 
     randomize_light = EventTerm(
@@ -170,7 +176,7 @@ def __post_init__(self):
 
 
 @configclass
-class FrankaCubeStackVisuomotorEnvCfg(stack_joint_pos_env_cfg.FrankaCubeStackEnvCfg):
+class FrankaCubeStackVisuomotorEnvCfg(StackEnvCfg):
     observations: ObservationsCfg = ObservationsCfg()
 
     # Evaluation settings
@@ -184,11 +190,16 @@ def __post_init__(self):
         # Set events
         self.events = EventCfg()
 
-        # Set Franka as robot
-        # We switch here to a stiffer PD controller for IK tracking to be better.
+        # Set Franka as robot with stiffer PD controller for IK tracking
         self.scene.robot = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
         self.scene.robot.spawn.semantic_tags = [("class", "robot")]
 
+        # Add semantics to table
+        self.scene.table.spawn.semantic_tags = [("class", "table")]
+
+        # Add semantics to ground
+        self.scene.plane.semantic_tags = [("class", "ground")]
+
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
             asset_name="robot",
@@ -198,8 +209,92 @@ def __post_init__(self):
             scale=0.5,
             body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, 0.107]),
         )
+        self.actions.gripper_action = mdp.BinaryJointPositionActionCfg(
+            asset_name="robot",
+            joint_names=["panda_finger.*"],
+            open_command_expr={"panda_finger_.*": 0.04},
+            close_command_expr={"panda_finger_.*": 0.0},
+        )
+        # utilities for gripper status check
+        self.gripper_joint_names = ["panda_finger_.*"]
+        self.gripper_open_val = 0.04
+        self.gripper_threshold = 0.005
+
+        # Rigid body properties of each cube
+        cube_properties = RigidBodyPropertiesCfg(
+            solver_position_iteration_count=16,
+            solver_velocity_iteration_count=1,
+            max_angular_velocity=1000.0,
+            max_linear_velocity=1000.0,
+            max_depenetration_velocity=5.0,
+            disable_gravity=False,
+        )
+
+        # Set each stacking cube deterministically
+        self.scene.cube_1 = RigidObjectCfg(
+            prim_path="{ENV_REGEX_NS}/Cube_1",
+            init_state=RigidObjectCfg.InitialStateCfg(pos=[0.4, 0.0, 0.0203], rot=[0, 0, 0, 1]),
+            spawn=UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/blue_block.usd",
+                scale=(1.0, 1.0, 1.0),
+                rigid_props=cube_properties,
+                semantic_tags=[("class", "cube_1")],
+            ),
+        )
+        self.scene.cube_2 = RigidObjectCfg(
+            prim_path="{ENV_REGEX_NS}/Cube_2",
+            init_state=RigidObjectCfg.InitialStateCfg(pos=[0.55, 0.05, 0.0203], rot=[0, 0, 0, 1]),
+            spawn=UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/red_block.usd",
+                scale=(1.0, 1.0, 1.0),
+                rigid_props=cube_properties,
+                semantic_tags=[("class", "cube_2")],
+            ),
+        )
+        self.scene.cube_3 = RigidObjectCfg(
+            prim_path="{ENV_REGEX_NS}/Cube_3",
+            init_state=RigidObjectCfg.InitialStateCfg(pos=[0.60, -0.1, 0.0203], rot=[0, 0, 0, 1]),
+            spawn=UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/green_block.usd",
+                scale=(1.0, 1.0, 1.0),
+                rigid_props=cube_properties,
+                semantic_tags=[("class", "cube_3")],
+            ),
+        )
+
+        # Listens to the required transforms
+        marker_cfg = FRAME_MARKER_CFG.copy()
+        marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
+        marker_cfg.prim_path = "/Visuals/FrameTransformer"
+        self.scene.ee_frame = FrameTransformerCfg(
+            prim_path="{ENV_REGEX_NS}/Robot/panda_link0",
+            debug_vis=False,
+            visualizer_cfg=marker_cfg,
+            target_frames=[
+                FrameTransformerCfg.FrameCfg(
+                    prim_path="{ENV_REGEX_NS}/Robot/panda_hand",
+                    name="end_effector",
+                    offset=OffsetCfg(
+                        pos=[0.0, 0.0, 0.1034],
+                    ),
+                ),
+                FrameTransformerCfg.FrameCfg(
+                    prim_path="{ENV_REGEX_NS}/Robot/panda_rightfinger",
+                    name="tool_rightfinger",
+                    offset=OffsetCfg(
+                        pos=(0.0, 0.0, 0.046),
+                    ),
+                ),
+                FrameTransformerCfg.FrameCfg(
+                    prim_path="{ENV_REGEX_NS}/Robot/panda_leftfinger",
+                    name="tool_leftfinger",
+                    offset=OffsetCfg(
+                        pos=(0.0, 0.0, 0.046),
+                    ),
+                ),
+            ],
+        )
 
-        # Set cameras
         # Set wrist camera
         self.scene.wrist_cam = CameraCfg(
             prim_path="{ENV_REGEX_NS}/Robot/panda_hand/wrist_cam",