diff --git a/source/isaaclab_tasks/changelog.d/task-cleanup-dex-part06.minor.rst b/source/isaaclab_tasks/changelog.d/task-cleanup-dex-part06.minor.rst
new file mode 100644
index 000000000000..e33743b348de
--- /dev/null
+++ b/source/isaaclab_tasks/changelog.d/task-cleanup-dex-part06.minor.rst
@@ -0,0 +1,12 @@
+Added
+^^^^^
+
+* Added an RGB-depth camera preset for training the Shadow Hand camera
+  environment with the Newton Warp renderer.
+
+Deprecated
+^^^^^^^^^^
+
+* Deprecated the ``Isaac-Reorient-Cube-Shadow-Camera-Benchmark-Direct``
+  registration in favor of the regular camera task with the
+  ``env.feature_extractor.enabled=False`` override.
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_camera_env_cfg.py
index 3ecb37b503d7..38c36c4e4a29 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_camera_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_camera_env_cfg.py
@@ -49,6 +49,7 @@ class ShadowHandTiledCameraCfg(PresetCfg):
     Select a data-type preset via the ``presets`` CLI argument, e.g.::
 
         presets = rgb  # RGB only (3 channels)
+        presets = rgb_depth  # RGB + depth (4 channels)
         presets = albedo  # albedo (3 channels)
         presets = simple_shading_constant_diffuse  # simple shading, constant diffuse (3 channels)
 
@@ -70,6 +71,9 @@ class ShadowHandTiledCameraCfg(PresetCfg):
     rgb: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(data_types=["rgb"])
     """RGB only (3 CNN input channels)."""
 
+    rgb_depth: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(data_types=["rgb", "depth"])
+    """RGB and depth (4 CNN input channels)."""
+
     albedo: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(data_types=["albedo"])
     """Albedo (3 CNN input channels)."""
 
@@ -159,6 +163,11 @@ class ShadowHandCameraEnvPlayCfg(ShadowHandCameraEnvCfg):
 class ShadowHandCameraBenchmarkEnvCfg(ShadowHandCameraEnvCfg):
     """Benchmark configuration with the feature extractor CNN disabled.
 
+    .. deprecated:: 9.0.0
+        Use the regular camera task with the ``env.feature_extractor.enabled=False``
+        override instead. The ``Isaac-Reorient-Cube-Shadow-Camera-Benchmark-Direct``
+        registration will be removed in a future release.
+
     The tiled camera renders frames each step as normal, but the CNN forward pass is
     bypassed — zero embeddings are returned instead. This isolates rendering throughput
     from CNN inference overhead when profiling.
diff --git a/source/isaaclab_tasks/test/core/test_shadow_hand_camera_presets.py b/source/isaaclab_tasks/test/core/test_shadow_hand_camera_presets.py
index 828c06fc0d1e..f0faacc1dd76 100644
--- a/source/isaaclab_tasks/test/core/test_shadow_hand_camera_presets.py
+++ b/source/isaaclab_tasks/test/core/test_shadow_hand_camera_presets.py
@@ -185,6 +185,7 @@ def shadow_hand_camera_presets():
     ("default", ["rgb", "depth", "semantic_segmentation"]),
     ("full", ["rgb", "depth", "semantic_segmentation"]),
     ("rgb", ["rgb"]),
+    ("rgb_depth", ["rgb", "depth"]),
     ("albedo", ["albedo"]),
     ("simple_shading_constant_diffuse", ["simple_shading_constant_diffuse"]),
     ("simple_shading_diffuse_mdl", ["simple_shading_diffuse_mdl"]),
@@ -277,7 +278,7 @@ def test_all_renderer_presets_present(shadow_hand_camera_presets):
 # when paired with the warp renderer preset
 # ---------------------------------------------------------------------------
 
-_WARP_VALID_CAMERA_PRESETS = ["rgb", "depth"]
+_WARP_VALID_CAMERA_PRESETS = ["rgb", "rgb_depth", "depth"]
 _WARP_INVALID_CAMERA_PRESETS = [
     "default",
     "full",
@@ -290,7 +291,7 @@ def test_all_renderer_presets_present(shadow_hand_camera_presets):
 
 @pytest.mark.parametrize("camera_preset", _WARP_VALID_CAMERA_PRESETS)
 def test_warp_with_valid_camera_preset(shadow_hand_camera_presets, camera_preset):
-    """Warp + {rgb, depth} camera presets must not raise (depth with CNN disabled)."""
+    """Warp + {rgb, rgb_depth, depth} camera presets must not raise (depth with CNN disabled)."""
     camera_cfg = shadow_hand_camera_presets["tiled_camera"][camera_preset]
     warp_cfg = shadow_hand_camera_presets["tiled_camera.renderer_cfg"]["newton_renderer"]
     enabled = camera_cfg.data_types != ["depth"]  # disable CNN for depth-only