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.

Author: ooctipus

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.

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,

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