[Task Clean-up] Dexterous Part 3/9: Add success-rate metrics to the reorientation Direct tasks

source/isaaclab_assets/changelog.d/task-cleanup-dex-part03.minor.rst

@@ -0,0 +1,9 @@
+Added
+^^^^^
+
+* Added the dexterous-hand actuated-joint and fingertip body-name lists
+  (:obj:`~isaaclab_assets.robots.shadow_hand.SHADOW_ACTUATED_JOINT_NAMES`,
+  :obj:`~isaaclab_assets.robots.shadow_hand.SHADOW_FINGERTIP_BODY_NAMES`,
+  :obj:`~isaaclab_assets.robots.allegro.ALLEGRO_ACTUATED_JOINT_NAMES`,
+  :obj:`~isaaclab_assets.robots.allegro.ALLEGRO_FINGERTIP_BODY_NAMES`) to the
+  robot asset modules so tasks can reference them from a single source.

source/isaaclab_assets/isaaclab_assets/robots/allegro.py

@@ -66,3 +66,32 @@
     soft_joint_pos_limit_factor=1.0,
 )
 """Configuration of Allegro Hand robot."""
+
+
+ALLEGRO_FINGERTIP_BODY_NAMES: list[str] = [
+    "index_link_3",
+    "middle_link_3",
+    "ring_link_3",
+    "thumb_link_3",
+]
+"""Allegro Hand fingertip body names."""
+
+ALLEGRO_ACTUATED_JOINT_NAMES: list[str] = [
+    "index_joint_0",
+    "middle_joint_0",
+    "ring_joint_0",
+    "thumb_joint_0",
+    "index_joint_1",
+    "index_joint_2",
+    "index_joint_3",
+    "middle_joint_1",
+    "middle_joint_2",
+    "middle_joint_3",
+    "ring_joint_1",
+    "ring_joint_2",
+    "ring_joint_3",
+    "thumb_joint_1",
+    "thumb_joint_2",
+    "thumb_joint_3",
+]
+"""Allegro Hand actuated joint names, in the Direct task's actuation order."""

source/isaaclab_assets/isaaclab_assets/robots/shadow_hand.py

@@ -82,3 +82,37 @@
     soft_joint_pos_limit_factor=1.0,
 )
 """Configuration of Shadow Hand robot."""
+
+
+SHADOW_FINGERTIP_BODY_NAMES: list[str] = [
+    "robot0_ffdistal",
+    "robot0_mfdistal",
+    "robot0_rfdistal",
+    "robot0_lfdistal",
+    "robot0_thdistal",
+]
+"""Shadow Hand fingertip body names (identical on every backend asset)."""
+
+SHADOW_ACTUATED_JOINT_NAMES: list[str] = [
+    "robot0_WRJ1",
+    "robot0_WRJ0",
+    "robot0_FFJ3",
+    "robot0_FFJ2",
+    "robot0_FFJ1",
+    "robot0_MFJ3",
+    "robot0_MFJ2",
+    "robot0_MFJ1",
+    "robot0_RFJ3",
+    "robot0_RFJ2",
+    "robot0_RFJ1",
+    "robot0_LFJ4",
+    "robot0_LFJ3",
+    "robot0_LFJ2",
+    "robot0_LFJ1",
+    "robot0_THJ4",
+    "robot0_THJ3",
+    "robot0_THJ2",
+    "robot0_THJ1",
+    "robot0_THJ0",
+]
+"""Shadow Hand actuated joint names, in the Direct task's actuation order."""

source/isaaclab_tasks/changelog.d/task-cleanup-dex-part03.minor.rst

@@ -0,0 +1,13 @@
+Added
+^^^^^
+
+* Added behavioral-success metrics and threshold-independent episode-error
+  diagnostics to the dexterous reorientation environments.
+
+Fixed
+^^^^^
+
+* Fixed dexterous hand resets that could initialize joints below their lower
+  position limits. Reset joint positions now sample uniformly across the full
+  joint range; previously the distribution was biased toward the lower half of
+  the range.

source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_env_cfg.py

@@ -19,7 +19,7 @@
 from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg
 from isaaclab.utils.configclass import configclass
 
-from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_env_cfg import ShadowHandRobotCfg
+from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_common import ShadowHandRobotCfg
 from isaaclab_tasks.utils import PresetCfg, preset
 
 from isaaclab_assets.robots.shadow_hand import SHADOW_HAND_CFG

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

@@ -0,0 +1,114 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Allegro Hand identity shared by the Direct and manager-based reorientation tasks.
+
+Asset and marker configurations, joint/body name lists, backend physics
+presets, and the sim mixin. No task tunables.
+"""
+
+from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
+from isaaclab_ovphysx.physics import OvPhysxCfg
+from isaaclab_physx.physics import PhysxCfg
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import ArticulationCfg, RigidObjectCfg
+from isaaclab.markers import VisualizationMarkersCfg
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+from isaaclab.utils.configclass import configclass
+
+from isaaclab_tasks.utils import PresetCfg
+
+from isaaclab_assets.robots.allegro import ALLEGRO_HAND_CFG
+
+
+@configclass
+class ObjectCfg(PresetCfg):
+    physx = RigidObjectCfg(
+        prim_path="/World/envs/env_.*/object",
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(
+                kinematic_enabled=False,
+                disable_gravity=False,
+                enable_gyroscopic_forces=True,
+                solver_position_iteration_count=8,
+                solver_velocity_iteration_count=0,
+                sleep_threshold=0.005,
+                stabilization_threshold=0.0025,
+                max_depenetration_velocity=1000.0,
+            ),
+            mass_props=sim_utils.MassPropertiesCfg(density=400.0),
+            scale=(1.2, 1.2, 1.2),
+        ),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, -0.17, 0.56), rot=(0.0, 0.0, 0.0, 1.0)),
+    )
+    newton_mjwarp = ArticulationCfg(
+        prim_path="/World/envs/env_.*/object",
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
+            mass_props=sim_utils.MassPropertiesCfg(density=400.0),
+            scale=(1.2, 1.2, 1.2),
+        ),
+        init_state=ArticulationCfg.InitialStateCfg(
+            pos=(0.0, -0.17, 0.565), rot=(0.0, 0.0, 0.0, 1.0), joint_pos={}, joint_vel={}
+        ),
+        actuators={},
+        articulation_root_prim_path="",
+    )
+    ovphysx = RigidObjectCfg(
+        prim_path="/World/envs/env_.*/object",
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(
+                kinematic_enabled=False,
+                disable_gravity=False,
+                enable_gyroscopic_forces=True,
+                solver_position_iteration_count=8,
+                solver_velocity_iteration_count=0,
+                sleep_threshold=0.005,
+                stabilization_threshold=0.0025,
+                max_depenetration_velocity=1000.0,
+            ),
+            mass_props=sim_utils.MassPropertiesCfg(density=400.0),
+            scale=(1.2, 1.2, 1.2),
+        ),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, -0.17, 0.56), rot=(0.0, 0.0, 0.0, 1.0)),
+    )
+    default = newton_mjwarp
+
+
+@configclass
+class PhysicsCfg(PresetCfg):
+    physx = PhysxCfg(
+        bounce_threshold_velocity=0.2,
+    )
+    newton_mjwarp = NewtonCfg(
+        solver_cfg=MJWarpSolverCfg(
+            integrator="implicitfast",
+            njmax=80,
+            nconmax=70,
+            impratio=10.0,
+            cone="elliptic",
+            update_data_interval=2,
+        ),
+        num_substeps=2,
+    )
+    ovphysx = OvPhysxCfg()
+    default = newton_mjwarp
+
+
+# Scene pieces shared verbatim by the manager-based variant.
+ROBOT_CFG = ALLEGRO_HAND_CFG.replace(prim_path="/World/envs/env_.*/Robot")
+OBJECT_CFG = ObjectCfg()
+GOAL_OBJECT_CFG = VisualizationMarkersCfg(
+    prim_path="/Visuals/goal_marker",
+    markers={
+        "goal": sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
+            scale=(1.2, 1.2, 1.2),
+        )
+    },
+)