Remove isaaclab_tasks dependency from core test files

[mataylor-nvidia]

Summary

• test_outdated_sensor.py: Rewrote with an inline ManagerBasedRLEnvCfg using FRANKA_PANDA_CFG + FrameTransformerCfg (both core); dropped gym.make, parse_env_cfg, and task_name parametrize. Renamed test function to test_eef_pos_not_stale_after_reset to reflect actual behaviour.
• test_action_state_recorder_term_task_integration.py: Replaced the Franka lift task with an inline CartpoleEnvCfg; ActionStateRecorderManagerCfg is already a core import so no task dependency remains.
• test_manager_based_rl_env_obs_spaces_task_integration.py: Replaced CartpoleEnvCfg, CartpoleCameraEnvCfg, AnymalCRoughEnvCfg, and resolve_presets with inline cfgs backed by CARTPOLE_CFG. The clip-to-obs-space-bounds test now uses a mixed clipped/unclipped joint obs cfg — the tested logic is obs-type-agnostic so no camera or ray-caster env is needed.
• test_tiled_camera_env.py: Moved isaaclab_tasks imports inside _launch_tests (all test functions are @pytest.mark.skip so the helper is never called at module load time).
• test_pink_ik.py + test_ik_configs/: Moved to source/isaaclab_tasks/test/controllers/ — the test is inseparable from GR1T2/G1 robot-specific Pink IK action term internals.

Test plan

• uv run isaaclab -f passes (pre-commit clean)
• test_outdated_sensor.py exercised in isaacsim CI via @pytest.mark.isaacsim_ci
• test_action_state_recorder_term_task_integration.py exercised in integration CI
• test_manager_based_rl_env_obs_spaces_task_integration.py exercised in integration CI
• test_pink_ik.py discovered by CI basename lookup (CI uses TEST_INCLUDE_FILES by filename, not path)

[greptile-apps]

Greptile Summary

The PR removes isaaclab_tasks dependencies from core tests by replacing task-backed fixtures with inline core environment configurations, deferring skipped-test imports, and relocating task-specific Pink IK tests.

• Adds minimal Cartpole configurations for recorder and observation-space integration tests.
• Adds a minimal Franka frame-transformer environment for reset freshness coverage.
• Moves robot-specific Pink IK tests and fixtures into isaaclab_tasks.
• Defers tiled-camera task imports until the skipped helper executes.

Confidence Score: 5/5

The PR appears safe to merge with no concrete changed-code defect identified.

The inline environments satisfy the manager and sensor configuration contracts exercised by these tests, recorder callbacks remain available under direct construction, and the relocated or deferred task dependencies remain on valid paths.

Important Files Changed

Filename	Overview
source/isaaclab/test/envs/test_action_state_recorder_term_task_integration.py	Replaces the registered Franka task with a directly constructed Cartpole environment while preserving recorder reset and partial-reset coverage.
source/isaaclab/test/envs/test_manager_based_rl_env_obs_spaces_task_integration.py	Replaces task configurations with inline Cartpole observation configs that retain non-concatenated-term and clipped-bound assertions.
source/isaaclab/test/sensors/test_outdated_sensor.py	Rebuilds the stale frame-transformer regression test around a core Franka scene whose reset state and idle action targets are aligned.
source/isaaclab/test/sensors/test_tiled_camera_env.py	Moves task-only imports into the helper reached exclusively by currently skipped tests.
source/isaaclab_tasks/test/controllers/test_pink_ik.py	Relocates the unchanged robot-specific Pink IK test and its configuration fixtures into the task package.

_{Reviews (1): Last reviewed commit: "Remove isaaclab_tasks dependency from co..." | Re-trigger Greptile}

[isaaclab-review-bot]

Isaac Lab Review Bot

The test dependency refactor appropriately removes task-package imports from core test modules and relocates the task-specific Pink IK coverage, but the rewritten FrameTransformer regression test no longer changes the robot pose during reset, making its stale-data assertion ineffective.

• Design and architecture: The dependency direction is improved: core tests use private inline configurations backed by isaaclab and isaaclab_assets, while robot-specific Pink IK coverage moves to isaaclab_tasks. The stale-sensor test configuration needs adjustment so its reset actually exercises cache invalidation.
• API: No public symbols, exports, CLI arguments, or configuration contracts are changed. The added environment configuration classes are private to their test modules, and both touched packages include .skip changelog fragments.
• Implementation: The FrameTransformer test resets every joint with zero position and velocity offsets, leaving the robot at its existing default pose; the subsequent idle action also preserves that pose. Consequently, stale and freshly updated end-effector observations are numerically indistinguishable. The reset must move the robot to a demonstrably different pose before comparing reset-time and first-step observations.

Minor fixes needed. Posted 1 actionable finding inline.

Automated review; human maintainers own approval decisions.

[isaaclab-review-bot]

🟡 Warning · Implementation — Zero-range reset makes staleness assertion vacuous

reset_robot uses position_range/velocity_range of (0.0, 0.0), so the reset writes exactly the spawn/default joint state the FrameTransformer cache was already populated with, and idle JointPositionAction holds that pose. A stale post-reset sensor read is then numerically identical to a fresh one, so assert_close(pre_reset_eef_pos, post_reset_eef_pos) passes even if reset-time cache invalidation regresses. Use a non-zero position range so the post-reset pose differs.

[mataylor-nvidia]

Note on test_tiled_camera_env.py

This file was originally included in this PR with its isaaclab_tasks imports moved inside the _launch_tests helper function as a workaround. On reflection, that was the wrong approach — moving the import inside still keeps the dependency alive in dead code.

Every test in the file carries @pytest.mark.skip(reason="Currently takes too long to run"), so the helper functions are never executed and the file contributes zero coverage. Rather than patch it, the file has been deleted in the latest commit. If these tiled-camera resolution sweep tests are ever un-skipped, they should be rewritten at that point with an inline DirectRLEnvCfg + CameraCfg (both in core) to avoid pulling in isaaclab_tasks.

[hujc7]

does the env cfg used in both tests matter? maybe it can be put in a test util file so it can be reused. also helps avoid the long import list at the file top

[hujc7]

why this is removed?

[hujc7]

Is the reason fro the move parse_env_cfg? wondering if the -tasks dependency can be removed instead of move.