Delegate shim cfg resolution to resolve_presets

Replace the custom flat-getattr + nested-setattr default resolution
inside deprecated_task_alias with a single call to
isaaclab_tasks.utils.hydra.resolve_presets(cls(), selected). The
resolver already walks every nested PresetCfg in the cfg tree and
picks the variant matching one of the selected names (falling back
to each preset's default field), which is exactly what the canonical
task's Hydra path does. The shim now returns bit-for-bit what the
canonical task plus presets=<name> would have produced.

Side effects:

* Drop the cfg_factory parameter from deprecated_task_alias -- the
  generic resolver handles the 2-axis (nested) case that previously
  required a custom callable.
* Delete the local _resolve_camera_variant helper from
  direct/cartpole/__init__.py and the cfg_factory= argument from
  its 5 deprecated-shim call sites.
* selected is now the union of every presets=NAME[,...] token's
  names, so a future caller passing presets=a,b correctly resolves
  both rather than truncating to the first.

No measurable startup-time delta: instantiation of the consolidated
PresetCfg (~22 ms, dominated by configclass deepcopy of a ~1400-node
tree) is the shared cost; the tree walk on top is sub-millisecond.
73 cartpole deprecation tests still pass.

Author: hujc7

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/__init__.py

@@ -45,28 +45,10 @@
 # Retired per-data-type camera task IDs. Each is registered as a deprecation
 # shim that emits a DeprecationWarning naming the consolidated task with the
 # equivalent presets=<name>, then loads the corresponding variant of
-# CartpoleCameraPresetsEnvCfg. The nested tiled_camera attribute must be
-# pinned alongside the root preset -- see _resolve_camera_variant.
-def _resolve_camera_variant(preset_name: str):
-    """Lazy 2-axis resolver: pin both the root cfg variant and the nested
-    ``tiled_camera`` preset. Without this the nested PresetCfg's default
-    (rgb) wins and a deprecated albedo task would load albedo's
-    ``observation_space`` with rgb ``data_types``.
-
-    Returns a zero-arg callable so the import of
-    :class:`CartpoleCameraPresetsEnvCfg` is deferred to ``gym.make()``.
-    """
-
-    def call():
-        from .cartpole_camera_presets_env_cfg import CartpoleCameraPresetsEnvCfg
-
-        cfg = CartpoleCameraPresetsEnvCfg()
-        result = getattr(cfg, preset_name)
-        result.tiled_camera = getattr(result.tiled_camera, preset_name)
-        return result
-
-    return call
-
+# CartpoleCameraPresetsEnvCfg. The shim's default cfg resolution walks every
+# nested PresetCfg via ``resolve_presets``, so both the root variant and the
+# nested ``tiled_camera`` preset are pinned to ``presets=<name>`` without
+# per-call-site wiring.
 
 gym.register(
     id="Isaac-Cartpole-RGB-Camera-Direct-v0",
@@ -77,7 +59,6 @@ def call():
             old_task_id="Isaac-Cartpole-RGB-Camera-Direct-v0",
             new_command=["--task=Isaac-Cartpole-Camera-Direct-v0", "presets=rgb"],
             consolidated_cfg_path=f"{__name__}.cartpole_camera_presets_env_cfg:CartpoleCameraPresetsEnvCfg",
-            cfg_factory=_resolve_camera_variant("rgb"),
         ),
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_camera_ppo_cfg.yaml",
@@ -93,7 +74,6 @@ def call():
             old_task_id="Isaac-Cartpole-Albedo-Camera-Direct-v0",
             new_command=["--task=Isaac-Cartpole-Camera-Direct-v0", "presets=albedo"],
             consolidated_cfg_path=f"{__name__}.cartpole_camera_presets_env_cfg:CartpoleCameraPresetsEnvCfg",
-            cfg_factory=_resolve_camera_variant("albedo"),
         ),
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_camera_ppo_cfg.yaml",
@@ -109,7 +89,6 @@ def call():
             old_task_id="Isaac-Cartpole-SimpleShading-Constant-Camera-Direct-v0",
             new_command=["--task=Isaac-Cartpole-Camera-Direct-v0", "presets=simple_shading_constant_diffuse"],
             consolidated_cfg_path=f"{__name__}.cartpole_camera_presets_env_cfg:CartpoleCameraPresetsEnvCfg",
-            cfg_factory=_resolve_camera_variant("simple_shading_constant_diffuse"),
         ),
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_camera_ppo_cfg.yaml",
@@ -125,7 +104,6 @@ def call():
             old_task_id="Isaac-Cartpole-SimpleShading-Diffuse-Camera-Direct-v0",
             new_command=["--task=Isaac-Cartpole-Camera-Direct-v0", "presets=simple_shading_diffuse_mdl"],
             consolidated_cfg_path=f"{__name__}.cartpole_camera_presets_env_cfg:CartpoleCameraPresetsEnvCfg",
-            cfg_factory=_resolve_camera_variant("simple_shading_diffuse_mdl"),
         ),
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_camera_ppo_cfg.yaml",
@@ -141,7 +119,6 @@ def call():
             old_task_id="Isaac-Cartpole-SimpleShading-Full-Camera-Direct-v0",
             new_command=["--task=Isaac-Cartpole-Camera-Direct-v0", "presets=simple_shading_full_mdl"],
             consolidated_cfg_path=f"{__name__}.cartpole_camera_presets_env_cfg:CartpoleCameraPresetsEnvCfg",
-            cfg_factory=_resolve_camera_variant("simple_shading_full_mdl"),
         ),
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_camera_ppo_cfg.yaml",
@@ -157,7 +134,6 @@ def call():
             old_task_id="Isaac-Cartpole-Depth-Camera-Direct-v0",
             new_command=["--task=Isaac-Cartpole-Camera-Direct-v0", "presets=depth"],
             consolidated_cfg_path=f"{__name__}.cartpole_camera_presets_env_cfg:CartpoleCameraPresetsEnvCfg",
-            cfg_factory=_resolve_camera_variant("depth"),
         ),
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_camera_ppo_cfg.yaml",

source/isaaclab_tasks/isaaclab_tasks/utils/task_deprecation.py

@@ -26,6 +26,8 @@
 from collections.abc import Callable
 from typing import Any
 
+from isaaclab_tasks.utils.hydra import resolve_presets
+
 
 def _user_stacklevel() -> int:
     """Compute a ``warnings.warn`` stacklevel that lands on the first frame
@@ -50,7 +52,6 @@ def deprecated_task_alias(
     old_task_id: str,
     new_command: list[str],
     consolidated_cfg_path: str,
-    cfg_factory: Callable[[], Any] | None = None,
 ) -> Callable[[], Any]:
     """Wrap a retired gym task ID with a :class:`DeprecationWarning` + cfg resolution.
 
@@ -68,14 +69,17 @@ def deprecated_task_alias(
     ``--task=`` first, ``--agent=`` next when present, and the
     ``presets=NAME`` selector at the end.
 
-    Default cfg resolution: imports *consolidated_cfg_path* via
-    :mod:`importlib`, instantiates the class, and returns
-    ``getattr(instance, <preset>)`` when *new_command* contains a
-    ``presets=<preset>`` token, else the instance itself. The import is
-    lazy -- it runs on first ``gym.make()``, not at registration time --
-    matching gym's own handling of string ``"module:Name"`` entry points.
-    Override via *cfg_factory* when resolution needs custom logic (e.g.
-    a nested ``PresetCfg`` walk).
+    Cfg resolution: imports *consolidated_cfg_path* via :mod:`importlib`,
+    instantiates the class, and delegates to
+    :func:`~isaaclab_tasks.utils.hydra.resolve_presets` with the union of
+    every ``presets=NAME[,NAME,...]`` token's names. The resolver walks
+    every nested :class:`PresetCfg` in the tree and picks the matching
+    variant (falling back to each preset's ``default`` field). This matches
+    the canonical task's resolution path; the cfg the deprecated shim
+    returns is bit-for-bit what the canonical task plus ``presets=<name>``
+    would have produced. The import is lazy -- it runs on first
+    ``gym.make()``, not at registration time -- matching gym's own handling
+    of string ``"module:Name"`` entry points.
 
     Args:
         old_task_id: The deprecated gym task ID, quoted in the warning body.
@@ -85,11 +89,6 @@ def deprecated_task_alias(
         consolidated_cfg_path: ``"module.path:ClassName"`` string for the
             consolidated :class:`PresetCfg` subclass. Same format gym
             accepts for ``env_cfg_entry_point``. Resolved lazily.
-        cfg_factory: Optional zero-arg callable that builds the env cfg the
-            retired task should load. Use when default resolution doesn't
-            fit -- e.g. a two-axis nested ``PresetCfg`` that needs both
-            the root and a nested attribute pinned. When set, takes
-            precedence over *consolidated_cfg_path*'s default resolution.
 
     Returns:
         A zero-arg callable suitable for use as ``env_cfg_entry_point``.
@@ -102,16 +101,13 @@ def factory():
             DeprecationWarning,
             stacklevel=_user_stacklevel(),
         )
-        if cfg_factory is not None:
-            return cfg_factory()
-        # Default resolution: pick the variant named by ``presets=<name>`` in
-        # the new_command, or return the bare consolidated cfg when absent.
-        preset = next(
-            (tok.split("=", 1)[1].split(",")[0] for tok in new_command if tok.startswith("presets=")),
-            None,
-        )
+        # Union of every ``presets=NAME[,...]`` token's names, mirroring how the
+        # hydra layer folds typed selectors before broadcast.
+        selected = {
+            name for tok in new_command if tok.startswith("presets=") for name in tok.split("=", 1)[1].split(",")
+        }
         mod_name, cls_name = consolidated_cfg_path.split(":")
         cls = getattr(importlib.import_module(mod_name), cls_name)
-        return getattr(cls(), preset) if preset else cls()
+        return resolve_presets(cls(), selected)
 
     return factory