From ce4a49218695145d2781de56cc7a03712382721e Mon Sep 17 00:00:00 2001
From: Octi Zhang <zhengyuz@nvidia.com>
Date: Thu, 13 Aug 2026 03:39:39 -0700
Subject: [PATCH] Fix reorient prototype spawning

Spawn the Shadow Hand, cube, and camera only in the source environment so the existing clone plan owns replication. Keep regex prim paths for runtime views while avoiding redundant USD authoring at large environment counts.
---
 .../changelog.d/fix-reorient-replication.rst    |  5 +++++
 .../config/shadow_hand/shadow_hand_common.py    | 17 +++++++++++++----
 .../shadow_hand_direct_camera_env_cfg.py        |  6 +++++-
 3 files changed, 23 insertions(+), 5 deletions(-)
 create mode 100644 source/isaaclab_tasks/changelog.d/fix-reorient-replication.rst

diff --git a/source/isaaclab_tasks/changelog.d/fix-reorient-replication.rst b/source/isaaclab_tasks/changelog.d/fix-reorient-replication.rst
new file mode 100644
index 00000000000..7c3a2e094e0
--- /dev/null
+++ b/source/isaaclab_tasks/changelog.d/fix-reorient-replication.rst
@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed Shadow Hand reorientation scene setup authoring every environment before
+  backend replication.
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py
index 74c4f0f3db7..02a75c7d791 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py
@@ -154,22 +154,30 @@ class ShadowHandManagerEventPresetCfg(PresetCfg):
 
 @configclass
 class ShadowHandRobotCfg(PresetCfg):
-    physx = SHADOW_HAND_CFG.replace(prim_path="/World/envs/env_.*/Robot").replace(
+    physx = SHADOW_HAND_CFG.replace(
+        prim_path="/World/envs/env_.*/Robot",
+        spawn=SHADOW_HAND_CFG.spawn.replace(spawn_path="/World/envs/env_0/Robot"),
         init_state=ArticulationCfg.InitialStateCfg(
             pos=(0.0, 0.0, 0.5),
             rot=(0.0, 0.0, 0.0, 1.0),
             joint_pos={".*": 0.0},
-        )
+        ),
     )
     isaacsim_physx = physx
     # Newton robot lives in the asset (see isaaclab_assets.robots.shadow_hand); reorient
     # uses its default gains. The handover task consumes the same asset cfg and overrides
     # only the finger gains.
-    newton_mjwarp = SHADOW_HAND_NEWTON_CFG.replace(prim_path="/World/envs/env_.*/Robot")
+    newton_mjwarp = SHADOW_HAND_NEWTON_CFG.replace(
+        prim_path="/World/envs/env_.*/Robot",
+        spawn=SHADOW_HAND_NEWTON_CFG.spawn.replace(spawn_path="/World/envs/env_0/Robot"),
+    )
     ovphysx = SHADOW_HAND_CFG.replace(
         prim_path="/World/envs/env_.*/Robot",
         # OVPhysX does not expose the fixed-tendon runtime API, so spawn without tendon overrides.
-        spawn=SHADOW_HAND_CFG.spawn.replace(fixed_tendons_props=None),
+        spawn=SHADOW_HAND_CFG.spawn.replace(
+            spawn_path="/World/envs/env_0/Robot",
+            fixed_tendons_props=None,
+        ),
         init_state=ArticulationCfg.InitialStateCfg(
             pos=(0.0, 0.0, 0.5),
             rot=(0.0, 0.0, 0.0, 1.0),
@@ -182,6 +190,7 @@ class ShadowHandRobotCfg(PresetCfg):
 CUBE_CFG = RigidObjectCfg(
     prim_path="/World/envs/env_.*/object",
     spawn=sim_utils.UsdFileCfg(
+        spawn_path="/World/envs/env_0/object",
         usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             kinematic_enabled=False,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
index ceeaa6a5d8c..02137ce8d73 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
@@ -75,7 +75,11 @@ class _ShadowHandBaseTiledCameraCfg(CameraCfg):
     )
     data_types: list[str] = []
     spawn: sim_utils.PinholeCameraCfg = sim_utils.PinholeCameraCfg(
-        focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
+        spawn_path="/World/envs/env_0/Camera",
+        focal_length=24.0,
+        focus_distance=400.0,
+        horizontal_aperture=20.955,
+        clipping_range=(0.1, 20.0),
     )
     width: int = 120
     height: int = 120