Fixes camera obs errors in stack instance randomize envs (#570)

# Description

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Link:
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Camera obs are not set nor used in stack instance randomize envs. Aligns
stack instance randomize env with regular stack env by removing unused
camera obs. Fixes an obs shape mismatch error caused by improperly
initialized cameras.


## Type of change

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applicable. -->

- Bug fix (non-breaking change which fixes an issue)

## Screenshots

Please attach before and after screenshots of the change if applicable.


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] 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

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docs/source/overview/environments.rst

@@ -867,11 +867,11 @@ inferencing, including reading from an already trained checkpoint and disabling
       -
       - Manager Based
       -
-    * - Isaac-Stack-Cube-Instance-Randomize-Franka-IK-Rel-v0 (Requires running with ``--enable_cameras``)
+    * - Isaac-Stack-Cube-Instance-Randomize-Franka-IK-Rel-v0
       -
       - Manager Based
       -
-    * - Isaac-Stack-Cube-Instance-Randomize-Franka-v0 (Requires running with ``--enable_cameras``)
+    * - Isaac-Stack-Cube-Instance-Randomize-Franka-v0
       -
       - Manager Based
       -

source/isaaclab_tasks/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.42"
+version = "0.10.43"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.10.43 (2025-07-24)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed un-set camera observations in the ``Isaac-Stack-Cube-Instance-Randomize-Franka-v0`` environment.
+
+
 0.10.42 (2025-07-11)
 ~~~~~~~~~~~~~~~~~~~~
 

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

@@ -5,11 +5,10 @@
 
 import torch
 
-import isaaclab.sim as sim_utils
 from isaaclab.assets import RigidObjectCfg, RigidObjectCollectionCfg
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.sensors import CameraCfg, FrameTransformerCfg
+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
@@ -167,32 +166,6 @@ class FrankaCubeStackInstanceRandomizeEnvCfg(StackInstanceRandomizeEnvCfg):
         self.scene.cube_2 = RigidObjectCollectionCfg(rigid_objects=cube_2_config_dict)
         self.scene.cube_3 = RigidObjectCollectionCfg(rigid_objects=cube_3_config_dict)
 
-        # Set wrist camera
-        self.scene.wrist_cam = CameraCfg(
-            prim_path="{ENV_REGEX_NS}/Robot/panda_hand/wrist_cam",
-            update_period=0.0333,
-            height=84,
-            width=84,
-            data_types=["rgb", "distance_to_image_plane"],
-            spawn=sim_utils.PinholeCameraCfg(
-                focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1.0e5)
-            ),
-            offset=CameraCfg.OffsetCfg(pos=(0.025, 0.0, 0.0), rot=(0.707, 0.0, 0.0, 0.707), convention="ros"),
-        )
-
-        # Set table view camera
-        self.scene.table_cam = CameraCfg(
-            prim_path="{ENV_REGEX_NS}/table_cam",
-            update_period=0.0333,
-            height=84,
-            width=84,
-            data_types=["rgb", "distance_to_image_plane"],
-            spawn=sim_utils.PinholeCameraCfg(
-                focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1.0e5)
-            ),
-            offset=CameraCfg.OffsetCfg(pos=(1.0, 0.0, 0.33), rot=(-0.3799, 0.5963, 0.5963, -0.3799), convention="ros"),
-        )
-
         # Listens to the required transforms
         marker_cfg = FRAME_MARKER_CFG.copy()
         marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_instance_randomize_env_cfg.py

@@ -10,10 +10,8 @@ from isaaclab.assets import ArticulationCfg, AssetBaseCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
-from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.sensors import CameraCfg
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
 from isaaclab.utils import configclass
@@ -37,10 +35,6 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
     # end-effector sensor: will be populated by agent env cfg
     ee_frame: FrameTransformerCfg = MISSING
 
-    # Cameras
-    wrist_cam: CameraCfg = MISSING
-    table_cam: CameraCfg = MISSING
-
     # Table
     table = AssetBaseCfg(
         prim_path="{ENV_REGEX_NS}/Table",
@@ -96,24 +90,8 @@ class ObservationsCfg:
             self.enable_corruption = False
             self.concatenate_terms = False
 
-    @configclass
-    class RGBCameraPolicyCfg(ObsGroup):
-        """Observations for policy group with RGB images."""
-
-        table_cam = ObsTerm(
-            func=mdp.image, params={"sensor_cfg": SceneEntityCfg("table_cam"), "data_type": "rgb", "normalize": False}
-        )
-        wrist_cam = ObsTerm(
-            func=mdp.image, params={"sensor_cfg": SceneEntityCfg("wrist_cam"), "data_type": "rgb", "normalize": False}
-        )
-
-        def __post_init__(self):
-            self.enable_corruption = False
-            self.concatenate_terms = False
-
     # observation groups
     policy: PolicyCfg = PolicyCfg()
-    rgb_camera: RGBCameraPolicyCfg = RGBCameraPolicyCfg()
 
 
 @configclass