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[Startup] Avoid replicated Shadow Hand camera USD work #7036

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[Startup] Avoid replicated Shadow Hand camera USD work #7036

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5 changes: 5 additions & 0 deletions source/isaaclab_tasks/changelog.d/fix-reorient-replication.rst
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Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
Fixed
^^^^^

* Fixed Shadow Hand reorientation scene setup authoring every environment before
backend replication.
17 changes: 13 additions & 4 deletions source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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),
Expand All @@ -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,
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6 changes: 5 additions & 1 deletion ...asks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
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Expand Up @@ -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
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