Match consolidated camera orientation for retired Albedo / SimpleShading IDs

The pre-existing develop consolidated ``MultiDataTypeCartpoleTiledCameraCfg``
uses a uniform identity-rotation camera for all data-type variants. The
historical per-variant cfgs (``CartpoleAlbedoCameraEnvCfg`` and the three
``CartpoleSimpleShading*CameraEnvCfg``) had a 180-degree rotated camera.
The merge from develop briefly reintroduced that rotation locally; the
rendering tests captured against develop's identity-rotation baseline
flagged the divergence on the consolidated path.

Drop the local rotation override so the consolidated cfg matches develop's
captured baseline. The deprecation shim returns the consolidated cfg
verbatim, so users of the retired task IDs now see the consolidated
camera orientation starting from this PR -- migration to the consolidated
task ID with ``presets=<name>`` carries that uniform pose anyway.

Test expectations updated accordingly.

Author: hujc7

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_presets_env_cfg.py

@@ -47,22 +47,13 @@ class CartpoleTiledCameraCfg(CameraCfg):
         height: int = 100
         renderer_cfg: MultiBackendRendererCfg = MultiBackendRendererCfg()
 
-    # Class-local helper (`_` prefix -> resolver skips it, not a variant). 180-degree
-    # offset matches the historical Albedo / SimpleShading per-variant camera
-    # orientations (the dropped *-Camera-Direct-v0 task IDs).
-    _ROTATED_OFFSET = CameraCfg.OffsetCfg(pos=(-5.0, 0.0, 2.0), rot=(1.0, 0.0, 0.0, 0.0), convention="world")
-
     default = CartpoleTiledCameraCfg(data_types=["rgb"])
     depth = CartpoleTiledCameraCfg(data_types=["depth"])
-    albedo = CartpoleTiledCameraCfg(data_types=["albedo"], offset=_ROTATED_OFFSET)
+    albedo = CartpoleTiledCameraCfg(data_types=["albedo"])
     semantic_segmentation = CartpoleTiledCameraCfg(data_types=["semantic_segmentation"])
-    simple_shading_constant_diffuse = CartpoleTiledCameraCfg(
-        data_types=["simple_shading_constant_diffuse"], offset=_ROTATED_OFFSET
-    )
-    simple_shading_diffuse_mdl = CartpoleTiledCameraCfg(
-        data_types=["simple_shading_diffuse_mdl"], offset=_ROTATED_OFFSET
-    )
-    simple_shading_full_mdl = CartpoleTiledCameraCfg(data_types=["simple_shading_full_mdl"], offset=_ROTATED_OFFSET)
+    simple_shading_constant_diffuse = CartpoleTiledCameraCfg(data_types=["simple_shading_constant_diffuse"])
+    simple_shading_diffuse_mdl = CartpoleTiledCameraCfg(data_types=["simple_shading_diffuse_mdl"])
+    simple_shading_full_mdl = CartpoleTiledCameraCfg(data_types=["simple_shading_full_mdl"])
     rgb = default
 
 

source/isaaclab_tasks/test/test_cartpole_preset_deprecations.py

@@ -155,25 +155,27 @@ def test_consolidated_task_id_loads_without_deprecation(task_id: str) -> None:
     assert messages == [], f"{task_id}: unexpected deprecation warning(s): {messages}"
 
 
-# Historical camera offset rotations from the old per-variant cfgs in
-# cartpole_camera_env_cfg.py. RGB / Depth used the identity; Albedo and the
-# three SimpleShading variants used a 180-degree rotation.
+# All variants resolve to the consolidated cfg's identity-offset camera. Develop's
+# ``MultiDataTypeCartpoleTiledCameraCfg`` chose a uniform camera pose for all
+# variants (the historical per-variant cfgs had a 180-degree rotation for Albedo /
+# SimpleShading, but that rotation was dropped when the consolidated task landed
+# in develop). The deprecation shim returns the consolidated cfg's variant, so
+# users of the retired task IDs see the consolidated task's camera orientation
+# starting from this PR -- migrate to the consolidated task and pick the variant
+# via ``presets=<name>``.
 _IDENTITY_ROT = (0.0, 0.0, 0.0, 1.0)
-_ROTATED_ROT = (1.0, 0.0, 0.0, 0.0)
 
 # (deprecated direct camera task id, expected data_types value,
 #  expected obs channels, expected offset rotation).
 # Verifies the shim atomically selects (observation_space, data_types,
-# camera offset) so the loaded cfg matches the historical per-variant class
-# bit-for-bit -- a regression in any axis would silently change behavior
-# for users migrating from the deprecated task id.
+# camera offset) so the loaded cfg matches the consolidated PresetCfg's variant.
 _DIRECT_CAMERA_SHAPE_PINS = [
     ("Isaac-Cartpole-RGB-Camera-Direct-v0", ["rgb"], 3, _IDENTITY_ROT),
     ("Isaac-Cartpole-Depth-Camera-Direct-v0", ["depth"], 1, _IDENTITY_ROT),
-    ("Isaac-Cartpole-Albedo-Camera-Direct-v0", ["albedo"], 3, _ROTATED_ROT),
-    ("Isaac-Cartpole-SimpleShading-Constant-Camera-Direct-v0", ["simple_shading_constant_diffuse"], 3, _ROTATED_ROT),
-    ("Isaac-Cartpole-SimpleShading-Diffuse-Camera-Direct-v0", ["simple_shading_diffuse_mdl"], 3, _ROTATED_ROT),
-    ("Isaac-Cartpole-SimpleShading-Full-Camera-Direct-v0", ["simple_shading_full_mdl"], 3, _ROTATED_ROT),
+    ("Isaac-Cartpole-Albedo-Camera-Direct-v0", ["albedo"], 3, _IDENTITY_ROT),
+    ("Isaac-Cartpole-SimpleShading-Constant-Camera-Direct-v0", ["simple_shading_constant_diffuse"], 3, _IDENTITY_ROT),
+    ("Isaac-Cartpole-SimpleShading-Diffuse-Camera-Direct-v0", ["simple_shading_diffuse_mdl"], 3, _IDENTITY_ROT),
+    ("Isaac-Cartpole-SimpleShading-Full-Camera-Direct-v0", ["simple_shading_full_mdl"], 3, _IDENTITY_ROT),
 ]