Temp removal of cameras in Stack env (#176)

# Description

This change removes cameras from the stacking environment due to
conflicts with XR teleop. The stacking environment currently does not
require cameras.

* Remove wrist and table cameras
* Add "isaaclab.python.rendering" = {} in
source/apps/isaaclab.python.xr.openxr.kit

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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


## 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
- [ ] 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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putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

source/apps/isaaclab.python.xr.openxr.kit

@@ -18,7 +18,7 @@ app.name = "Isaac-Sim"
 app.version = "4.5.0"
 
 [dependencies]
-"isaaclab.python" = {}
+"isaaclab.python.rendering" = {}
 "isaacsim.xr.openxr" = {}
 
 # Kit extensions

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py

@@ -3,11 +3,10 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import omni.isaac.lab.sim as sim_utils
 from omni.isaac.lab.assets import RigidObjectCfg
 from omni.isaac.lab.managers import EventTermCfg as EventTerm
 from omni.isaac.lab.managers import SceneEntityCfg
-from omni.isaac.lab.sensors import CameraCfg, FrameTransformerCfg
+from omni.isaac.lab.sensors import FrameTransformerCfg
 from omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
 from omni.isaac.lab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
 from omni.isaac.lab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
@@ -120,32 +119,6 @@ class FrankaCubeStackEnvCfg(StackEnvCfg):
             ),
         )
 
-        # 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/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/stack_env_cfg.py

@@ -13,7 +13,6 @@ from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm
 from omni.isaac.lab.managers import SceneEntityCfg
 from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
 from omni.isaac.lab.scene import InteractiveSceneCfg
-from omni.isaac.lab.sensors import CameraCfg
 from omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg
 from omni.isaac.lab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
 from omni.isaac.lab.utils import configclass
@@ -37,10 +36,6 @@ 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",
@@ -100,13 +95,6 @@ class ObservationsCfg:
     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