Remove Orchestrator (#638)

## Summary
Remove Orchestrator

## Detailed description
- Orchestrator was added in `v0.1.0` to temporarily give a customer a
shim to transition. Removing for v0.3.

Author: alexmillane

isaaclab_arena/embodiments/embodiment_base.py

@@ -10,7 +10,6 @@
 
 from isaaclab_arena.assets.asset import Asset
 from isaaclab_arena.embodiments.common.arm_mode import ArmMode
-from isaaclab_arena.environments.isaaclab_arena_manager_based_env import IsaacLabArenaManagerBasedRLEnvCfg
 from isaaclab_arena.utils.cameras import make_camera_observation_cfg
 from isaaclab_arena.utils.configclass import combine_configclass_instances
 from isaaclab_arena.utils.pose import Pose
@@ -112,9 +111,6 @@ def get_recorder_term_cfg(self) -> RecorderManagerBaseCfg:
     def get_termination_cfg(self) -> Any:
         return self.termination_cfg
 
-    def modify_env_cfg(self, env_cfg: IsaacLabArenaManagerBasedRLEnvCfg) -> IsaacLabArenaManagerBasedRLEnvCfg:
-        return env_cfg
-
     def get_embodiment_name_in_scene(self) -> str:
         return "robot"
 

isaaclab_arena/environments/arena_env_builder.py

@@ -51,13 +51,6 @@ def __init__(self, arena_env: IsaacLabArenaEnvironment, args: argparse.Namespace
         )
         self._placement_event_cfg: EventTermCfg | None = None
 
-    def orchestrate(self) -> None:
-        """Orchestrate the environment member interaction"""
-        if self.arena_env.orchestrator is not None:
-            self.arena_env.orchestrator.orchestrate(
-                self.arena_env.embodiment, self.arena_env.scene, self.arena_env.task
-            )
-
     def _solve_relations(self) -> None:
         """Solve spatial relations for objects in the scene.
 
@@ -181,19 +174,6 @@ def _modify_recorder_cfg_dataset_filename(self, recorder_cfg: RecorderManagerBas
         )
         return recorder_cfg
 
-    # This method gives the arena environment a chance to modify the environment configuration.
-    # This is a workaround to allow user to gradually move to the new configuration system.
-    # THE ORDER MATTERS HERE.
-    # THIS WILL BE REMOVED IN THE FUTURE.
-    def modify_env_cfg(self, env_cfg: IsaacLabArenaManagerBasedRLEnvCfg) -> IsaacLabArenaManagerBasedRLEnvCfg:
-        """Modify the environment configuration."""
-        if self.arena_env.task is not None:
-            env_cfg = self.arena_env.task.modify_env_cfg(env_cfg)
-        if self.arena_env.embodiment is not None:
-            env_cfg = self.arena_env.embodiment.modify_env_cfg(env_cfg)
-        env_cfg = self.arena_env.scene.modify_env_cfg(env_cfg)
-        return env_cfg
-
     def compose_manager_cfg(self) -> IsaacLabArenaManagerBasedRLEnvCfg:
         """Return base ManagerBased cfg (scene+events+terminations+xr), no registration."""
 
@@ -351,7 +331,7 @@ def compose_manager_cfg(self) -> IsaacLabArenaManagerBasedRLEnvCfg:
             env_cfg.sim.physics = getattr(ArenaPhysicsCfg(), presets)
 
             # Set replicate_physics for shared physics representations.
-            # For Newton, wihotut this flag, the simulation initialization
+            # For Newton, without this flag, the simulation initialization
             # takes a very long time for large number of parallel environments.
             if presets == "newton":
                 env_cfg.scene.replicate_physics = True
@@ -374,12 +354,7 @@ def build_registered(
     ) -> tuple[str, IsaacLabArenaManagerBasedRLEnvCfg]:
         """Register Gym env and parse runtime cfg."""
         name = self.arena_env.name
-        # orchestrate the environment member interaction
-        self.orchestrate()
         cfg_entry = env_cfg if env_cfg is not None else self.compose_manager_cfg()
-        # THIS IS A WORKAROUND TO ALLOW USER TO GRADUALLY MOVE TO THE NEW CONFIGURATION SYSTEM.
-        # THIS WILL BE REMOVED IN THE FUTURE.
-        cfg_entry = self.modify_env_cfg(cfg_entry)
         entry_point = self.get_entry_point()
         # Register the environment with the Gym registry.
         kwargs = {

isaaclab_arena/environments/isaaclab_arena_environment.py

@@ -12,7 +12,6 @@
     from isaaclab_arena.assets.teleop_device_base import TeleopDeviceBase
     from isaaclab_arena.embodiments.embodiment_base import EmbodimentBase
     from isaaclab_arena.environments.isaaclab_arena_manager_based_env import IsaacLabArenaManagerBasedRLEnvCfg
-    from isaaclab_arena.orchestrator.orchestrator_base import OrchestratorBase
     from isaaclab_arena.scene.scene import Scene
     from isaaclab_arena.tasks.task_base import TaskBase
 
@@ -27,7 +26,6 @@ def __init__(
         embodiment: EmbodimentBase | None = None,
         task: TaskBase | None = None,
         teleop_device: TeleopDeviceBase | None = None,
-        orchestrator: OrchestratorBase | None = None,
         env_cfg_callback: Callable[IsaacLabArenaManagerBasedRLEnvCfg] | None = None,
         rl_framework_entry_point: str | None = None,
         rl_policy_cfg: str | None = None,
@@ -39,7 +37,6 @@ def __init__(
             embodiment: The embodiment to use in the environment.
             task: The task to use in the environment.
             teleop_device: The teleop device to use in the environment.
-            orchestrator: The orchestrator to use in the environment.
             env_cfg_callback: A callback function that modifies the environment configuration.
             rl_framework_entry_point: Gym kwargs key under which the RL policy config is
                 registered. This is an IsaacLab convention: each supported RL framework has a
@@ -55,7 +52,6 @@ def __init__(
         self.embodiment = embodiment
         self.task = task
         self.teleop_device = teleop_device
-        self.orchestrator = orchestrator
         self.env_cfg_callback = env_cfg_callback
         if (rl_framework_entry_point is None) != (rl_policy_cfg is None):
             raise ValueError("rl_framework_entry_point and rl_policy_cfg must both be set or both be None.")

isaaclab_arena/orchestrator/__init__.py

@@ -16,7 +16,6 @@
 from isaaclab_arena.assets.object_base import ObjectType
 from isaaclab_arena.assets.object_reference import ObjectReference
 from isaaclab_arena.assets.object_set import RigidObjectSet
-from isaaclab_arena.environments.isaaclab_arena_manager_based_env import IsaacLabArenaManagerBasedRLEnvCfg
 from isaaclab_arena.utils.configclass import make_configclass
 from isaaclab_arena.utils.phyx_utils import add_contact_report
 
@@ -112,9 +111,6 @@ def get_objects_with_relations(self) -> list[Object | ObjectReference]:
                 objects_with_relations.append(asset)
         return objects_with_relations
 
-    def modify_env_cfg(self, env_cfg: IsaacLabArenaManagerBasedRLEnvCfg) -> IsaacLabArenaManagerBasedRLEnvCfg:
-        return env_cfg
-
     def export_to_usd(self, output_path: pathlib.Path, root_prim_path: str = "/World") -> None:
         """Exports the scene to a USD file.
 

isaaclab_arena/orchestrator/orchestrator_base.py

@@ -10,7 +10,6 @@
 from isaaclab.managers.recorder_manager import RecorderManagerBaseCfg
 
 from isaaclab_arena.embodiments.common.arm_mode import ArmMode
-from isaaclab_arena.environments.isaaclab_arena_manager_based_env import IsaacLabArenaManagerBasedRLEnvCfg
 from isaaclab_arena.metrics.metric_base import MetricBase
 
 
@@ -55,9 +54,6 @@ def get_commands_cfg(self) -> Any:
     def get_recorder_term_cfg(self) -> RecorderManagerBaseCfg:
         return None
 
-    def modify_env_cfg(self, env_cfg: IsaacLabArenaManagerBasedRLEnvCfg) -> IsaacLabArenaManagerBasedRLEnvCfg:
-        return env_cfg
-
     def get_viewer_cfg(self) -> ViewerCfg:
         return ViewerCfg()