Remove the orphaned object_away_from_robot termination term

Its only consumer was the removed legacy ReorientObjectEnvCfg; neither
the Direct env nor the parity manager configurations use an
object-to-robot distance criterion.

Author: hujc7

source/isaaclab_tasks/changelog.d/dexterous-env-convergence.major.rst

@@ -36,8 +36,9 @@ Removed
 * Removed the legacy manager-based reorientation configuration
   ``ReorientObjectEnvCfg`` and the manager terms only it consumed
   (``success_bonus``, ``track_pos_l2``, ``track_orientation_inv_l2``,
-  ``max_consecutive_success``, and ``object_away_from_goal``). Use the
-  Direct-compatible manager configurations and terms instead (e.g.
+  ``max_consecutive_success``, ``object_away_from_goal``, and
+  ``object_away_from_robot``). Use the Direct-compatible manager
+  configurations and terms instead (e.g.
   :class:`~isaaclab_tasks.core.reorient.mdp.ReorientReward` and
   :class:`~isaaclab_tasks.core.reorient.mdp.ReorientTimeout`).
 

source/isaaclab_tasks/isaaclab_tasks/core/reorient/mdp/__init__.pyi

@@ -24,7 +24,6 @@ __all__ = [
     "evaluate_reorient_success",
     "reorient_reward",
     "ReorientReward",
-    "object_away_from_robot",
     "object_reorientation_out_of_reach",
     "ReorientTimeout",
 ]
@@ -54,7 +53,6 @@ from .rewards import (
 )
 from .terminations import (
     ReorientTimeout,
-    object_away_from_robot,
     object_reorientation_out_of_reach,
 )
 from isaaclab.envs.mdp import *

source/isaaclab_tasks/isaaclab_tasks/core/reorient/mdp/terminations.py

@@ -95,23 +95,3 @@ def __call__(
         reward_term: ReorientReward = env.reward_manager.get_term_cfg(reward_name).func
         max_success_reached = reward_term.successes >= max_successes
         return (env.episode_length_buf >= env.max_episode_length - 1) | max_success_reached
-
-
-class object_away_from_robot(ManagerTermBase):
-    """Terminate when the object is farther than the threshold [m] from the robot."""
-
-    def __init__(self, cfg: TerminationTermCfg, env: ManagerBasedRLEnv):
-        super().__init__(cfg, env)
-
-    def __call__(
-        self,
-        env: ManagerBasedRLEnv,
-        threshold: float,
-        asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
-        object_cfg: SceneEntityCfg = SceneEntityCfg("object"),
-    ) -> torch.Tensor:
-        """Return per-environment termination flags."""
-        robot = env.scene[asset_cfg.name]
-        obj = env.scene[object_cfg.name]
-        distance = torch.linalg.norm(robot.data.root_pos_w.torch - obj.data.root_pos_w.torch, ord=2, dim=-1)
-        return distance > threshold