[Tasks] Final isaaclab_tasks cleanup pass for 3.0

[StafaH]

Description

The per-task cleanups for 3.0 landed in separate PRs by different contributors and drifted in style. This is one consolidating pass over isaaclab_tasks (core in full, contrib where needed) with the goal of a single consistent convention, shared MDP terms, and no per-step waste in the terms.

Consistency (core)

• Module docstrings everywhere; one section-banner scheme (Scene definition / MDP settings / Environment configuration); one mdp import form; relative from . import agents; uniform gym registration key order (and the missing default_agent entries for Isaac-Shadow-Handover, Isaac-Lift-Cable-Franka, Isaac-Lift-Cable-Franka-Camera).
• .pyi stubs use sorted __all__, relative imports, and the from isaaclab.envs.mdp import * fallback last.
• ManagerTermBase subclasses take (cfg, env) like the base class; the locomotion terms now also call super().__init__.
• Removed stale isort:skip and "Pre-defined configs" banners, historical/changelog-style comments, commented-out code, and (w, x, y, z) quaternion docstrings (Isaac Lab uses (x, y, z, w)).
• Replaced deprecated viewer writes with sim.default_visualizer_cfg (handover, Franka soft-body).

Shared MDP terms moved to isaaclab.envs.mdp (task packages still resolve them through their stub fallback, so mdp.<term> in configs is unchanged)

• survival_success_rate (was triplicated in cartpole, locomotion, dr_legs), terminated_penalty, joint_pos_target_l2.
• DifficultyScheduler and initial_final_interpolate_fn from lift, with a success_term_name parameter.
• Fourbar's joint_pos_cos / joint_pos_sin moved from rewards.py to observations.py.

De-duplication

• New cartpole_common.py, ant_common.py, humanoid_common.py hold the physics/camera presets, gears, targets and terrain previously copy-pasted between the direct and manager workflows. Removed the no-op AntObservationsCfg / HumanoidObservationsCfg presets and the dead vision_camera.show_collage debug helper.
• _FrankaSoftSceneCfg / _FrankaSoftCameraSceneCfg become the public FrankaSoftBaseSceneCfg / FrankaSoftBaseCameraSceneCfg since the cloth and cable configs subclass them.

Performance

• Cached the reorient cube-corner offsets (rebuilt on device every step), scalar comparisons in the deformable/cable bounds terminations, expand instead of repeat / repeat_interleave in the lift, handover and reorient hot paths, cached marker constants in ReorientCommand, gear ratios resolved once as a (num_joints,) vector.

Fixes found along the way

• LiftEnvCfg lacked @configclass.
• The lift ADR curriculum interpolated the point-cloud noise upper bound to -0.01 (now 0.01).
• Stale docs literalinclude ranges for the joint-wrench sensor page and the moved cartpole presets.

Contrib (targeted)

• dr_legs duplicate survival_success_rate removed and constructor order fixed; wp.to_torch replaced by .torch in drone_arl; quaternion-order docstrings fixed in deploy/keyboard; hoisted an inline math_utils import in assemble_trocar; module docstrings for 15 files.

Tests

• Deleted the dead test/benchmarking/ scaffolding, the permanently skipped determinism test and the empty XFAIL_TASKS branch; converted the lone unittest.TestCase file to pytest; removed single-element parametrizes, redundant prints, a repo-layout-only test and a never-asserting lazy-export test; fixed wxyz identity quaternions in the lift cfg test.

Audit findings deliberately not changed here because they alter task behavior and need an owner call: contrib/multitask_manipulation/mdp/utils.py converts an xyzw offset quaternion to="wxyz" before combine_frame_transforms; contrib/drone_arl/mdp/events.py writes [1, 0, 0, 0] as an identity quaternion (a 180° x-rotation in xyzw); contrib/stack/mdp/observations.py::object_grasped can raise UnboundLocalError when gripper_joint_names is absent; the Humanoid manager terrain lacks the friction_combine_mode="average" the direct cfg sets.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have added a changelog fragment under source/<pkg>/changelog.d/ for every touched package (do not edit CHANGELOG.rst or bump extension.toml — CI handles that)
• I have added my name to the CONTRIBUTORS.md or my name already exists there

Verification: all 48 registered task configs load kitless without forbidden imports; 251 task unit tests pass; the experimental capture-safety tests pass; a kitless Newton smoke run of the touched Cartpole, Ant, Humanoid, Fourbar, Allegro/Shadow reorient, handover, cabinet, reach, lift and AnymalD tasks passes.

🤖 Generated with Claude Code

Release backport

• Backport this pull request to the active release branch after it merges into develop

[greptile-apps]

Confidence Score: 4/5

The PR should not merge until the task MDP packages retain the wildcard-export compatibility of the terms moved into isaaclab.envs.mdp.

Findings

1.  Wildcard exports lose moved terms ▶

Summary

This PR consolidates task-package conventions, moves duplicated MDP terms into the shared environment package, extracts common task presets, and removes repeated allocations from several hot paths.

• Shared rewards and ADR curriculum terms now resolve through task MDP fallback packages.
• Cartpole, Ant, Humanoid, lift, handover, and reorientation configurations share presets and optimized tensor operations.
• Documentation and tests are updated alongside removal of obsolete scaffolding.
• The task stubs do not retain the moved terms in __all__, breaking their previous wildcard-import contract.

Diagram

%%{init: {'theme': 'neutral'}}%%
flowchart LR
    Config["Task configs: mdp.term"] --> TaskMDP["Task MDP lazy_export"]
    TaskMDP --> Local["Task-local terms"]
    TaskMDP -->|"fallback __getattr__"| Shared["isaaclab.envs.mdp"]
    Shared --> Terms["Shared rewards and curricula"]
    Star["from task.mdp import *"] --> All["Task __all__"]
    All --> Local
    All -. "moved names omitted" .-> Shared

Loading

_{Reviews (1) · Last reviewed commit: "Unify isaaclab_tasks coding style and sh..."}

[greptile-apps]

Wildcard exports lose moved terms

The moved terms remain available through direct mdp.<name> access, but removing them from the task stubs’ __all__ breaks wildcard imports. For example, from isaaclab_tasks.core.cartpole.mdp import * previously exported joint_pos_target_l2 and survival_success_rate; it now exports only CameraImageStack, because lazy_export() does not add fallback-package names to __all__. The corresponding locomotion, lift, and DR-legs stubs have the same issue, so callers using those public wildcard exports receive missing names.

[ooctipus]

I am seeing mixed absolute import and relative import

[ooctipus]

here changed from abs to relative

[isaaclab-review-bot]

Isaac Lab Review Bot

The cleanup consolidates shared MDP terms and task presets, but introduces an avoidable cross-task dependency in the Humanoid direct scene that should be corrected before merge.

• Design and architecture: Finding 0 is valid: humanoid_direct_env_cfg.py imports TERRAIN_CFG from the Ant-specific ant_common.py, making Humanoid behavior depend on an unrelated task package and causing future Ant terrain changes to propagate into Humanoid. Move the terrain configuration to an appropriately shared locomotion module or restore Humanoid-owned terrain configuration.
• API: The reviewed MDP-term moves preserve task-level mdp.<term> resolution through the stub fallback, and no separate public API break is established by the accepted finding.
• Implementation: The main implementation concern is the changed producer path for HumanoidDirectSceneCfg.terrain: it now references Ant-owned configuration rather than a Humanoid- or locomotion-owned definition. The allocation-reduction and term-relocation paths reviewed do not otherwise support a candidate finding.

Minor fixes needed. Posted 1 actionable finding inline.

Automated review; human maintainers own approval decisions.

[isaaclab-review-bot]

🔵 Suggestion · Design Architecture — Humanoid scene imports terrain from ant package

HumanoidDirectSceneCfg now takes TERRAIN_CFG from locomotion.ant.ant_common, so tuning the Ant ground plane silently changes the direct Humanoid task. This also splits ownership: humanoid_common.py was added in this change for exactly such shared constants, and humanoid_manager_env_cfg.py still declares its own terrain inline. Place the shared terrain in a locomotion-level module (or humanoid_common.py) used by both Humanoid workflows.

[ooctipus]

just notice this power consumption definiton looks quite problematic it assume action is torque

[StafaH]

run-ci

[StafaH]

run-ci

[isaaclab-bot]

Backported to release/3.0.0 as ef1514c.