Deduplicate backend scene presets via inner-class defaults

The per-backend scene preset entries repeated identical num_envs,
env_spacing, and replicate_physics values, differing only in
clone_in_fabric (Fabric cloning is unsupported on Newton). Move the
invariant values onto each family's shared scene class as defaults so
the presets declare only their backend delta. Verified byte-identical
across all twenty preset variants.

Author: hujc7

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

@@ -35,6 +35,10 @@
 class _HandoverManagerSceneCfg(InteractiveSceneCfg):
     """Scene shared by the handover Manager backend alternatives."""
 
+    num_envs = 2048
+    env_spacing = 1.5
+    replicate_physics = True
+
     ground = AssetBaseCfg(
         prim_path="/World/ground",
         spawn=sim_utils.GroundPlaneCfg(),
@@ -52,10 +56,8 @@ class _HandoverManagerSceneCfg(InteractiveSceneCfg):
 class HandoverManagerSceneCfg(PresetCfg):
     """Backend-specific scene cloning settings for handover."""
 
-    physx = _HandoverManagerSceneCfg(num_envs=2048, env_spacing=1.5, replicate_physics=True, clone_in_fabric=True)
-    newton_mjwarp = _HandoverManagerSceneCfg(
-        num_envs=2048, env_spacing=1.5, replicate_physics=True, clone_in_fabric=False
-    )
+    physx = _HandoverManagerSceneCfg(clone_in_fabric=True)
+    newton_mjwarp = _HandoverManagerSceneCfg(clone_in_fabric=False)
     ovphysx = physx
     default = physx
 

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

@@ -38,6 +38,10 @@
 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
@@ -51,24 +55,9 @@ class _AllegroCubeSceneCfg(InteractiveSceneCfg):
 class AllegroCubeSceneCfg(PresetCfg):
     """Backend-specific scene cloning settings matching the Direct task."""
 
-    physx = _AllegroCubeSceneCfg(
-        replicate_physics=True,
-        num_envs=8192,
-        env_spacing=0.75,
-        clone_in_fabric=True,
-    )
-    newton_mjwarp = _AllegroCubeSceneCfg(
-        replicate_physics=True,
-        num_envs=8192,
-        env_spacing=0.75,
-        clone_in_fabric=False,
-    )
-    ovphysx = _AllegroCubeSceneCfg(
-        replicate_physics=True,
-        num_envs=8192,
-        env_spacing=0.75,
-        clone_in_fabric=True,
-    )
+    physx = _AllegroCubeSceneCfg(clone_in_fabric=True)
+    newton_mjwarp = _AllegroCubeSceneCfg(clone_in_fabric=False)
+    ovphysx = _AllegroCubeSceneCfg(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_manager_env_cfg.py

@@ -38,6 +38,9 @@
 class _ShadowHandCameraManagerSceneCfg(_ShadowHandManagerSceneCfg):
     """State Manager scene augmented with camera and fingertip-wrench sensors."""
 
+    num_envs = 1225
+    env_spacing = 2.0
+
     ground = None
     tiled_camera: ShadowHandTiledCameraCfg = ShadowHandTiledCameraCfg()
     joint_wrench = JointWrenchSensorCfg(prim_path="{ENV_REGEX_NS}/Robot")
@@ -47,18 +50,8 @@ class _ShadowHandCameraManagerSceneCfg(_ShadowHandManagerSceneCfg):
 class ShadowHandCameraManagerSceneCfg(PresetCfg):
     """Backend-specific camera scene alternatives for training and benchmarking."""
 
-    physx = _ShadowHandCameraManagerSceneCfg(
-        num_envs=1225,
-        env_spacing=2.0,
-        replicate_physics=True,
-        clone_in_fabric=True,
-    )
-    newton_mjwarp = _ShadowHandCameraManagerSceneCfg(
-        num_envs=1225,
-        env_spacing=2.0,
-        replicate_physics=True,
-        clone_in_fabric=False,
-    )
+    physx = _ShadowHandCameraManagerSceneCfg(clone_in_fabric=True)
+    newton_mjwarp = _ShadowHandCameraManagerSceneCfg(clone_in_fabric=False)
     ovphysx = physx
     default = physx
 
@@ -67,24 +60,9 @@ class ShadowHandCameraManagerSceneCfg(PresetCfg):
 class ShadowHandCameraManagerPlaySceneCfg(PresetCfg):
     """Reduced backend-specific camera scenes for checkpoint playback."""
 
-    physx = _ShadowHandCameraManagerSceneCfg(
-        num_envs=CAMERA_PLAY_NUM_ENVS,
-        env_spacing=2.0,
-        replicate_physics=True,
-        clone_in_fabric=True,
-    )
-    newton_mjwarp = _ShadowHandCameraManagerSceneCfg(
-        num_envs=CAMERA_PLAY_NUM_ENVS,
-        env_spacing=2.0,
-        replicate_physics=True,
-        clone_in_fabric=False,
-    )
-    ovphysx = _ShadowHandCameraManagerSceneCfg(
-        num_envs=CAMERA_PLAY_NUM_ENVS,
-        env_spacing=2.0,
-        replicate_physics=True,
-        clone_in_fabric=True,
-    )
+    physx = _ShadowHandCameraManagerSceneCfg(num_envs=CAMERA_PLAY_NUM_ENVS, clone_in_fabric=True)
+    newton_mjwarp = _ShadowHandCameraManagerSceneCfg(num_envs=CAMERA_PLAY_NUM_ENVS, clone_in_fabric=False)
+    ovphysx = _ShadowHandCameraManagerSceneCfg(num_envs=CAMERA_PLAY_NUM_ENVS, clone_in_fabric=True)
     default = physx
 
 

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

@@ -266,6 +266,15 @@ 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.
@@ -274,18 +283,8 @@ class ShadowHandSceneCfg(PresetCfg):
     Newton does not support Fabric cloning, so ``clone_in_fabric`` must be ``False``.
     """
 
-    physx: InteractiveSceneCfg = InteractiveSceneCfg(
-        num_envs=8192,
-        env_spacing=0.75,
-        replicate_physics=True,
-        clone_in_fabric=True,
-    )
-    newton_mjwarp: InteractiveSceneCfg = InteractiveSceneCfg(
-        num_envs=8192,
-        env_spacing=0.75,
-        replicate_physics=True,
-        clone_in_fabric=False,
-    )
+    physx: InteractiveSceneCfg = _ShadowHandSceneCfg(clone_in_fabric=True)
+    newton_mjwarp: InteractiveSceneCfg = _ShadowHandSceneCfg(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

@@ -44,6 +44,10 @@
 class _ShadowHandManagerSceneCfg(InteractiveSceneCfg):
     """Scene shared by the Shadow Hand Manager backend alternatives."""
 
+    num_envs = 8192
+    env_spacing = 0.75
+    replicate_physics = True
+
     ground = AssetBaseCfg(prim_path="/World/ground", spawn=sim_utils.GroundPlaneCfg())
     robot: PresetCfg = ROBOT_CFG
     object: ObjectCfg = OBJECT_CFG
@@ -57,18 +61,8 @@ class _ShadowHandManagerSceneCfg(InteractiveSceneCfg):
 class ShadowHandManagerSceneCfg(PresetCfg):
     """Backend-specific scene cloning settings matching the Direct task."""
 
-    physx = _ShadowHandManagerSceneCfg(
-        num_envs=8192,
-        env_spacing=0.75,
-        replicate_physics=True,
-        clone_in_fabric=True,
-    )
-    newton_mjwarp = _ShadowHandManagerSceneCfg(
-        num_envs=8192,
-        env_spacing=0.75,
-        replicate_physics=True,
-        clone_in_fabric=False,
-    )
+    physx = _ShadowHandManagerSceneCfg(clone_in_fabric=True)
+    newton_mjwarp = _ShadowHandManagerSceneCfg(clone_in_fabric=False)
     ovphysx = physx
     newton_kamino = newton_mjwarp
     default = physx
@@ -312,18 +306,8 @@ class _ShadowHandOpenAIManagerSceneCfg(_ShadowHandManagerSceneCfg):
 class ShadowHandOpenAIManagerSceneCfg(PresetCfg):
     """Backend-specific OpenAI scene alternatives."""
 
-    physx = _ShadowHandOpenAIManagerSceneCfg(
-        num_envs=8192,
-        env_spacing=0.75,
-        replicate_physics=True,
-        clone_in_fabric=True,
-    )
-    newton_mjwarp = _ShadowHandOpenAIManagerSceneCfg(
-        num_envs=8192,
-        env_spacing=0.75,
-        replicate_physics=True,
-        clone_in_fabric=False,
-    )
+    physx = _ShadowHandOpenAIManagerSceneCfg(clone_in_fabric=True)
+    newton_mjwarp = _ShadowHandOpenAIManagerSceneCfg(clone_in_fabric=False)
     ovphysx = physx
     newton_kamino = newton_mjwarp
     default = physx