Nest single-consumer scene and camera helper cfgs in their presets

Move the five helper classes that are meaningful only inside one preset
class into that class as nested classes, per the repository's
nested-class convention: the handover, Allegro, Shadow Direct, and
Shadow OpenAI manager scene cfgs and the tiled-camera variant base.
_ShadowHandManagerSceneCfg stays module-level (base of two subclasses,
one in another file) as does _ShadowHandCameraManagerSceneCfg (consumed
by both the train and the Play presets).

Nested configclasses must carry their own @configclass decorator —
without it, an outer-decorated preset reprocesses the preset instances
and the nested class's unannotated defaults resolve to MISSING. All
twenty scene preset variants and the camera preset verified
value-identical.

Author: hujc7

source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_manager_env_cfg.py

@@ -32,32 +32,31 @@
 
 
 @configclass
-class _HandoverManagerSceneCfg(InteractiveSceneCfg):
-    """Scene shared by the handover Manager backend alternatives."""
-
-    num_envs = 2048
-    env_spacing = 1.5
-    replicate_physics = True
+class HandoverManagerSceneCfg(PresetCfg):
+    """Backend-specific scene cloning settings for handover."""
 
-    ground = AssetBaseCfg(
-        prim_path="/World/ground",
-        spawn=sim_utils.GroundPlaneCfg(),
-    )
-    right_hand: PresetCfg = RIGHT_HAND_CFG
-    left_hand: PresetCfg = LEFT_HAND_CFG
-    object: ObjectCfg = ObjectCfg()
-    light = AssetBaseCfg(
-        prim_path="/World/Light",
-        spawn=sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75)),
-    )
+    @configclass
+    class SceneCfg(InteractiveSceneCfg):
+        """Scene shared by the handover Manager backend alternatives."""
 
+        num_envs = 2048
+        env_spacing = 1.5
+        replicate_physics = True
 
-@configclass
-class HandoverManagerSceneCfg(PresetCfg):
-    """Backend-specific scene cloning settings for handover."""
+        ground = AssetBaseCfg(
+            prim_path="/World/ground",
+            spawn=sim_utils.GroundPlaneCfg(),
+        )
+        right_hand: PresetCfg = RIGHT_HAND_CFG
+        left_hand: PresetCfg = LEFT_HAND_CFG
+        object: ObjectCfg = ObjectCfg()
+        light = AssetBaseCfg(
+            prim_path="/World/Light",
+            spawn=sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75)),
+        )
 
-    physx = _HandoverManagerSceneCfg(clone_in_fabric=True)
-    newton_mjwarp = _HandoverManagerSceneCfg(clone_in_fabric=False)
+    physx = SceneCfg(clone_in_fabric=True)
+    newton_mjwarp = SceneCfg(clone_in_fabric=False)
     ovphysx = physx
     default = physx
 

source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_manager_env_cfg.py

@@ -34,30 +34,29 @@
 from isaaclab_tasks.utils import PresetCfg
 
 
-@configclass
-class _AllegroCubeSceneCfg(InteractiveSceneCfg):
-    """Allegro scene shared by the backend alternatives."""
-
-    num_envs = 8192
-    env_spacing = 0.75
-    replicate_physics = True
-
-    ground = AssetBaseCfg(prim_path="/World/ground", spawn=sim_utils.GroundPlaneCfg())
-    robot: ArticulationCfg = ROBOT_CFG
-    object: ObjectCfg = OBJECT_CFG
-    light = AssetBaseCfg(
-        prim_path="/World/Light",
-        spawn=sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75)),
-    )
-
-
 @configclass
 class AllegroCubeSceneCfg(PresetCfg):
     """Backend-specific scene cloning settings matching the Direct task."""
 
-    physx = _AllegroCubeSceneCfg(clone_in_fabric=True)
-    newton_mjwarp = _AllegroCubeSceneCfg(clone_in_fabric=False)
-    ovphysx = _AllegroCubeSceneCfg(clone_in_fabric=True)
+    @configclass
+    class SceneCfg(InteractiveSceneCfg):
+        """Allegro scene shared by the backend alternatives."""
+
+        num_envs = 8192
+        env_spacing = 0.75
+        replicate_physics = True
+
+        ground = AssetBaseCfg(prim_path="/World/ground", spawn=sim_utils.GroundPlaneCfg())
+        robot: ArticulationCfg = ROBOT_CFG
+        object: ObjectCfg = OBJECT_CFG
+        light = AssetBaseCfg(
+            prim_path="/World/Light",
+            spawn=sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75)),
+        )
+
+    physx = SceneCfg(clone_in_fabric=True)
+    newton_mjwarp = SceneCfg(clone_in_fabric=False)
+    ovphysx = SceneCfg(clone_in_fabric=True)
     default = physx
 
     def set_num_envs(self, num_envs: int) -> None:

source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_camera_env_cfg.py

@@ -54,29 +54,6 @@ def validate_shadow_hand_camera_settings(
         )
 
 
-@configclass
-class _ShadowHandBaseTiledCameraCfg(CameraCfg):
-    """Base camera configuration for the shadow hand vision environment.
-
-    This is an internal config used by :class:`ShadowHandTiledCameraCfg` presets and
-    by derived env configs that hard-code a specific data type. It embeds
-    :class:`~isaaclab_tasks.utils.MultiBackendRendererCfg` so the renderer backend can
-    still be selected via the ``presets`` CLI argument.
-    """
-
-    prim_path: str = "/World/envs/env_.*/Camera"
-    offset: CameraCfg.OffsetCfg = CameraCfg.OffsetCfg(
-        pos=(0, -0.35, 1.0), rot=(0.0, 0.7071, 0.0, 0.7071), convention="world"
-    )
-    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)
-    )
-    width: int = 120
-    height: int = 120
-    renderer_cfg: MultiBackendRendererCfg = MultiBackendRendererCfg()
-
-
 @configclass
 class ShadowHandTiledCameraCfg(PresetCfg):
     """Camera data-type presets for the shadow hand vision environment.
@@ -96,41 +73,55 @@ class ShadowHandTiledCameraCfg(PresetCfg):
         presets = newton_renderer, rgb
     """
 
-    default: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(
-        data_types=["rgb", "depth", "semantic_segmentation"]
-    )
+    @configclass
+    class BaseTiledCameraCfg(CameraCfg):
+        """Base camera configuration for the shadow hand vision environment.
+
+        This is an internal config used by :class:`ShadowHandTiledCameraCfg` presets and
+        by derived env configs that hard-code a specific data type. It embeds
+        :class:`~isaaclab_tasks.utils.MultiBackendRendererCfg` so the renderer backend can
+        still be selected via the ``presets`` CLI argument.
+        """
+
+        prim_path: str = "/World/envs/env_.*/Camera"
+        offset: CameraCfg.OffsetCfg = CameraCfg.OffsetCfg(
+            pos=(0, -0.35, 1.0), rot=(0.0, 0.7071, 0.0, 0.7071), convention="world"
+        )
+        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)
+        )
+        width: int = 120
+        height: int = 120
+        renderer_cfg: MultiBackendRendererCfg = MultiBackendRendererCfg()
+
+    default: BaseTiledCameraCfg = BaseTiledCameraCfg(data_types=["rgb", "depth", "semantic_segmentation"])
     """Default: RGB + depth + semantic segmentation (7 CNN input channels)."""
 
-    full: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(
-        data_types=["rgb", "depth", "semantic_segmentation"]
-    )
+    full: BaseTiledCameraCfg = BaseTiledCameraCfg(data_types=["rgb", "depth", "semantic_segmentation"])
     """Full modalities: RGB + depth + semantic segmentation (7 channels). Alias for default."""
 
-    rgb: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(data_types=["rgb"])
+    rgb: BaseTiledCameraCfg = BaseTiledCameraCfg(data_types=["rgb"])
     """RGB only (3 CNN input channels)."""
 
-    rgb_depth: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(data_types=["rgb", "depth"])
+    rgb_depth: BaseTiledCameraCfg = BaseTiledCameraCfg(data_types=["rgb", "depth"])
     """RGB and depth (4 CNN input channels)."""
 
-    albedo: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(data_types=["albedo"])
+    albedo: BaseTiledCameraCfg = BaseTiledCameraCfg(data_types=["albedo"])
     """Albedo (3 CNN input channels)."""
 
-    simple_shading_constant_diffuse: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(
+    simple_shading_constant_diffuse: BaseTiledCameraCfg = BaseTiledCameraCfg(
         data_types=["simple_shading_constant_diffuse"]
     )
     """Simple shading with constant diffuse (3 CNN input channels)."""
 
-    simple_shading_diffuse_mdl: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(
-        data_types=["simple_shading_diffuse_mdl"]
-    )
+    simple_shading_diffuse_mdl: BaseTiledCameraCfg = BaseTiledCameraCfg(data_types=["simple_shading_diffuse_mdl"])
     """Simple shading with diffuse MDL (3 CNN input channels)."""
 
-    simple_shading_full_mdl: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(
-        data_types=["simple_shading_full_mdl"]
-    )
+    simple_shading_full_mdl: BaseTiledCameraCfg = BaseTiledCameraCfg(data_types=["simple_shading_full_mdl"])
     """Simple shading with full MDL (3 CNN input channels)."""
 
-    depth: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(data_types=["depth"])
+    depth: BaseTiledCameraCfg = BaseTiledCameraCfg(data_types=["depth"])
     """Depth only (1 channel).
 
     .. warning::
@@ -144,9 +135,7 @@ class ShadowHandTiledCameraCfg(PresetCfg):
             presets=depth,ovrtx    # depth rendering with OVRTX renderer
     """
 
-    semantic_segmentation: _ShadowHandBaseTiledCameraCfg = _ShadowHandBaseTiledCameraCfg(
-        data_types=["semantic_segmentation"]
-    )
+    semantic_segmentation: BaseTiledCameraCfg = BaseTiledCameraCfg(data_types=["semantic_segmentation"])
     """Semantic segmentation (3 CNN input channels)."""
 
 

source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_env_cfg.py

@@ -266,15 +266,6 @@ class ObjectCfg(PresetCfg):
     newton_kamino = newton_mjwarp
 
 
-@configclass
-class _ShadowHandSceneCfg(InteractiveSceneCfg):
-    """Shadow Direct scene defaults; backend presets only set ``clone_in_fabric``."""
-
-    num_envs = 8192
-    env_spacing = 0.75
-    replicate_physics = True
-
-
 @configclass
 class ShadowHandSceneCfg(PresetCfg):
     """Scene configuration presets for the shadow hand environment.
@@ -283,8 +274,16 @@ class ShadowHandSceneCfg(PresetCfg):
     Newton does not support Fabric cloning, so ``clone_in_fabric`` must be ``False``.
     """
 
-    physx: InteractiveSceneCfg = _ShadowHandSceneCfg(clone_in_fabric=True)
-    newton_mjwarp: InteractiveSceneCfg = _ShadowHandSceneCfg(clone_in_fabric=False)
+    @configclass
+    class SceneCfg(InteractiveSceneCfg):
+        """Shadow Direct scene defaults; backend presets only set ``clone_in_fabric``."""
+
+        num_envs = 8192
+        env_spacing = 0.75
+        replicate_physics = True
+
+    physx: InteractiveSceneCfg = SceneCfg(clone_in_fabric=True)
+    newton_mjwarp: InteractiveSceneCfg = SceneCfg(clone_in_fabric=False)
     default: InteractiveSceneCfg = physx
     newton_kamino = newton_mjwarp
 

source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_manager_env_cfg.py

@@ -295,19 +295,18 @@ class CriticCfg(FullStateWithoutActionCfg):
     critic: CriticCfg = CriticCfg()
 
 
-@configclass
-class _ShadowHandOpenAIManagerSceneCfg(_ShadowHandManagerSceneCfg):
-    """Shadow Hand scene with fingertip joint-wrench sensing."""
-
-    joint_wrench = JointWrenchSensorCfg(prim_path="{ENV_REGEX_NS}/Robot")
-
-
 @configclass
 class ShadowHandOpenAIManagerSceneCfg(PresetCfg):
     """Backend-specific OpenAI scene alternatives."""
 
-    physx = _ShadowHandOpenAIManagerSceneCfg(clone_in_fabric=True)
-    newton_mjwarp = _ShadowHandOpenAIManagerSceneCfg(clone_in_fabric=False)
+    @configclass
+    class SceneCfg(_ShadowHandManagerSceneCfg):
+        """Shadow Hand scene with fingertip joint-wrench sensing."""
+
+        joint_wrench = JointWrenchSensorCfg(prim_path="{ENV_REGEX_NS}/Robot")
+
+    physx = SceneCfg(clone_in_fabric=True)
+    newton_mjwarp = SceneCfg(clone_in_fabric=False)
     ovphysx = physx
     newton_kamino = newton_mjwarp
     default = physx