Extend Core Lift and Reorient episode duration

[ooctipus]

Summary

• Changed the Core Lift and Reorient pose-command resampling range from 3–5 seconds to 4–6 seconds.
• Removed the ReorientEnvCfg 2–3 second post-init override so CommandsCfg remains the single source of truth.
• Extended the episode length from 6 to 12 seconds.

This gives policies more time to complete each commanded goal while retaining multiple goals per episode.

Testing

• Focused lift config tests: 3 passed.
• Formatting and style hooks passed.
• The isaaclab_tasks changelog fragment passed validation against upstream/develop.

[isaaclab-review-bot]

Isaac Lab Review Bot

The PR consistently extends Core Lift/Reorient episodes from 6 to 12 seconds, changes pose-command resampling to 4–6 seconds, removes the narrower Reorient-specific override, and records the user-visible behavior change in the isaaclab_tasks changelog.

• Design and architecture: The resampling interval now has a single source of truth in CommandsCfg. ReorientEnvCfg applies the 12-second episode length, and LiftEnvCfg inherits that configuration without introducing a conflicting override.
• API: No public symbols, field names, exports, or constructor interfaces change. Existing task configuration defaults change intentionally, and the package includes an appropriate past-tense Changed changelog fragment.
• Implementation: The ReorientEnvCfg-to-LiftEnvCfg inheritance path and play-mode overrides were traced; neither path replaces the new episode length or resampling interval. The resulting 12-second episodes retain approximately two to three commanded goals at the configured 4–6-second interval. The nearby pre-existing “single-goal setup” comment remains somewhat ambiguous but is not made into a concrete functional issue by this patch.

No blocking issues. No inline issue met the actionable-evidence threshold; the assessment above records the review feedback.

Automated review; human maintainers own approval decisions.

[greptile-apps]

Greptile Summary

This PR extends Core Lift and Reorient episodes while proportionally slowing pose-command resampling, preserving multiple goals per episode.

• Changes the effective pose-command resampling range from 2–3 seconds to 4–6 seconds and removes the post-init override.
• Doubles the inherited episode duration from 6 to 12 seconds.
• Adds a changelog fragment documenting the timing changes.

Confidence Score: 5/5

The PR appears safe to merge because the episode horizon and command cadence are changed consistently across the affected variants.

The affected configurations inherit both coordinated timing changes, while timeout handling and reward reporting derive their behavior from the configured episode duration; no conflicting fixed-duration assumption was found.

Important Files Changed

Filename	Overview
source/isaaclab_tasks/isaaclab_tasks/core/lift/lift_env_cfg.py	Coordinates the episode-duration and command-resampling changes across inherited Core Lift and Reorient variants; no concrete mismatch was found.
source/isaaclab_tasks/changelog.d/zhengyuz-extend-reorient-episode-duration.rst	Accurately documents the task timing changes.

_{Reviews (1): Last reviewed commit: "Remove reorientation timing test" | Re-trigger Greptile}