[Task Clean-up][Manager] Dexterous Part 6/9: Add the handover and camera manager counterparts

docs/source/setup/quickstart_details.rst

@@ -57,7 +57,7 @@ options (observation modes, camera configs, etc.). They fold into Hydra override
 
          # OVRTX rendering (kit-less, no Kit visualizer)
          uv run isaaclab train --rl_library rsl_rl \
-           --task=Isaac-Reorient-Cube-Shadow-Camera-Benchmark-Direct \
+           --task=IsaacContrib-Reorient-Cube-Shadow-Camera-Benchmark-Direct \
            --num_envs=16 --max_iterations=10 \
            physics=newton_mjwarp renderer=ovrtx presets=simple_shading_diffuse_mdl
 

source/isaaclab/changelog.d/task-cleanup-dex-part08.rst

@@ -0,0 +1,6 @@
+Fixed
+^^^^^
+
+* Fixed :attr:`~isaaclab.envs.ManagerBasedRLEnv.reset_buf` not existing until the first
+  call to :meth:`~isaaclab.envs.ManagerBasedRLEnv.step`, so manager terms that run during
+  the initial reset could not read it.

source/isaaclab/isaaclab/envs/manager_based_rl_env.py

@@ -73,8 +73,11 @@ def __init__(self, cfg: ManagerBasedRLEnvCfg, render_mode: str | None = None, **
         # -- counter for curriculum
         self.common_step_counter = 0
 
-        # initialize the episode length buffer BEFORE loading the managers to use it in mdp functions.
+        # initialize the episode length and reset buffers BEFORE loading the managers to use them in
+        # mdp functions. The reset buffer is only assigned its computed value in :meth:`step`, so terms
+        # that run during the initial reset would otherwise not find it.
         self.episode_length_buf = torch.zeros(cfg.scene.num_envs, device=cfg.sim.device, dtype=torch.long)
+        self.reset_buf = torch.zeros(cfg.scene.num_envs, device=cfg.sim.device, dtype=torch.bool)
 
         # Forward render_mode and viewer camera to VideoRecorderCfg before super().__init__()
         # creates the VideoRecorder, so fallback cameras are only spawned when --video is active

source/isaaclab_assets/changelog.d/task-cleanup-dex-part11.minor.rst

@@ -0,0 +1,7 @@
+Added
+^^^^^
+
+* Added :obj:`~isaaclab_assets.robots.shadow_hand.SHADOW_ACTUATED_JOINT_NAMES_NEWTON`.
+  The Newton Shadow Hand asset numbers its finger joints one higher than the
+  PhysX one, so terms that address joints by name need the Newton ordering
+  rather than :obj:`~isaaclab_assets.robots.shadow_hand.SHADOW_ACTUATED_JOINT_NAMES`.

source/isaaclab_assets/isaaclab_assets/robots/shadow_hand.py

@@ -169,9 +169,10 @@
 )
 """Configuration of the Shadow Hand robot on the Newton (MJWarp) asset.
 
-The Newton USD renumbers the finger joints (+1) relative to :obj:`SHADOW_HAND_CFG`, but the
-names in :obj:`SHADOW_ACTUATED_JOINT_NAMES` resolve on both assets, so the two backends share
-one actuated-joint list. Gains default to the PhysX values; tasks override them as needed.
+The Newton USD renumbers the finger joints (+1) relative to :obj:`SHADOW_HAND_CFG`. Actuator
+regexes resolve on both assets, so the two backends share one actuator configuration, but terms
+that need the joints in order use :obj:`SHADOW_ACTUATED_JOINT_NAMES_NEWTON` on this asset.
+Gains default to the PhysX values; tasks override them as needed.
 """
 
 
@@ -210,3 +211,31 @@
 
 These names resolve on both the PhysX and Newton assets, so every backend shares this list.
 """
+
+SHADOW_ACTUATED_JOINT_NAMES_NEWTON: list[str] = [
+    "robot0_WRJ1",
+    "robot0_WRJ0",
+    "robot0_FFJ4",
+    "robot0_FFJ3",
+    "robot0_FFJ2",
+    "robot0_MFJ4",
+    "robot0_MFJ3",
+    "robot0_MFJ2",
+    "robot0_RFJ4",
+    "robot0_RFJ3",
+    "robot0_RFJ2",
+    "robot0_LFJ5",
+    "robot0_LFJ4",
+    "robot0_LFJ3",
+    "robot0_LFJ2",
+    "robot0_THJ4",
+    "robot0_THJ3",
+    "robot0_THJ2",
+    "robot0_THJ1",
+    "robot0_THJ0",
+]
+"""Shadow Hand actuated joint names on the Newton asset, in the same order.
+
+The Newton USD numbers the finger joints one higher than :obj:`SHADOW_ACTUATED_JOINT_NAMES`,
+so action terms that address joints by name need this list rather than the PhysX one.
+"""

source/isaaclab_tasks/changelog.d/task-cleanup-dex-part08.major.rst

@@ -0,0 +1,67 @@
+Added
+^^^^^
+
+* Added manager-based counterparts for the Shadow cube reorientation task and
+  its OpenAI FF/LSTM observation variants, alongside the existing Allegro
+  manager task.
+* Added :class:`~isaaclab_tasks.core.reorient.mdp.reorient_timeout`, which
+  restarts the episode timer on every goal reach so OpenAI-variant episodes
+  extend across success streaks.
+* Added ``enable_domain_randomization`` to the manager-based Allegro and Shadow
+  environment for turning off its startup randomization terms.
+* Added Newton and OvPhysx physics presets to the manager-based reorientation
+  environments, selectable with ``physics=``.
+* Added a Direct-versus-manager value-parity check covering timing, success
+  tolerance, fall distance, and the consecutive-success cap.
+
+Changed
+^^^^^^^
+
+* **Breaking:** Changed the manager-based reorientation tasks to report
+  ``Metrics/success_rate`` as a per-episode success bit, drawn at
+  ``ReorientCommandCfg.success_count_threshold`` like the Direct environments,
+  instead of a per-attempt ratio. Curves from earlier runs are not comparable.
+* **Breaking:** Changed domain randomization to default off on the Allegro and
+  Shadow manager tasks, so they match their Direct counterparts, which randomize
+  nothing beyond the reset distributions. Set ``enable_domain_randomization`` on
+  the configuration to restore it. The OpenAI variants keep it enabled, matching
+  their Direct counterparts.
+* **Breaking:** Changed the manager-based Allegro task to use the same RL agent
+  configurations as its Direct counterpart, so the two are comparable. The
+  ``rl_games_manager_ppo_cfg.yaml``, ``skrl_manager_ppo_cfg.yaml`` and
+  ``AllegroCubePPORunnerCfg`` entries are removed; use ``rl_games_ppo_cfg.yaml``,
+  ``skrl_ppo_cfg.yaml`` and ``AllegroHandPPORunnerCfg``.
+
+* **Breaking:** Changed the manager-based Allegro reorientation environment to
+  match the Direct observation, action, reset, and termination contracts. The
+  observation space changes size, so existing manager checkpoints cannot be
+  loaded and must be retrained.
+* **Breaking:** Changed the Shadow Hand reorientation tasks to apply the same
+  randomization on every physics backend. PhysX now also randomizes joint gains,
+  object mass, and gravity, and Newton now also randomizes contact materials.
+  Policies trained before this change must be retrained.
+* **Breaking:** Moved the Shadow Hand camera benchmark task to the contributed
+  tasks as ``IsaacContrib-Reorient-Cube-Shadow-Camera-Benchmark-Direct``. The
+  released ``Isaac-Reorient-Cube-Shadow-Camera-Benchmark-Direct`` identifier
+  still resolves and warns; switch to the new identifier.
+* Renamed the per-robot scene constants to name what they hold: ``ROBOT_CFG``
+  becomes ``SHADOW_HAND_ROBOT_CFG`` or ``ALLEGRO_HAND_ROBOT_CFG``,
+  ``OBJECT_CFG`` becomes ``CUBE_CFG``, and ``ObjectCfg`` becomes ``CubeCfg``.
+
+Removed
+^^^^^^^
+
+* Removed ``ReorientObjectEnvCfg`` and the shared reorientation observation,
+  action, and command configurations. Each manager task now declares its own;
+  derive from :class:`~isaaclab.envs.ManagerBasedRLEnvCfg` directly.
+* Removed ``reorient_common``. Its constants are declared by the tasks that use
+  them, and the in-hand offset and goal-marker position are now per-robot fields
+  on the Direct configurations.
+
+Fixed
+^^^^^
+
+* Fixed the manager-based reorientation tasks not reporting
+  ``Metrics/success_rate``.
+* Fixed manager ``Metrics/success_rate`` counting goal attempts rather than the
+  per-episode success bit the Direct tasks report.

source/isaaclab_tasks/changelog.d/task-cleanup-dex-part11.minor.rst

@@ -0,0 +1,36 @@
+Added
+^^^^^
+
+* Added manager-based counterparts for the Shadow handover and Shadow camera
+  reorientation tasks, completing the manager coverage of the dexterous task
+  families.
+* Added a Direct-versus-manager value-parity check for the handover task,
+  alongside the reorientation one.
+
+Changed
+^^^^^^^
+
+* Changed the manager-based Shadow camera task to run on PhysX by default. The
+  RTX render modalities require Fabric cloning, which Newton does not support.
+  Select Newton with ``physics=newton_mjwarp`` for the state-only observation
+  groups.
+* Changed the handover reward to a plain reward term, moving success and
+  goal-distance bookkeeping to
+  :class:`~isaaclab_tasks.core.handover.mdp.commands.HandoverCommand`.
+* Changed the reorientation action configuration to name its term through a
+  module path, so loading a task configuration no longer imports the USD
+  bindings.
+
+Removed
+^^^^^^^
+
+* Removed the ``Isaac-Reorient-Cube-Shadow-Camera-Play`` and
+  ``Isaac-Reorient-Cube-Shadow-Camera-Direct-Play`` tasks. Use the training task
+  with ``--play`` instead; playback settings now live in
+  :meth:`~isaaclab.envs.ManagerBasedRLEnvCfg.play_mode`.
+
+Fixed
+^^^^^
+
+* Fixed the Shadow camera feature-extractor observation term ignoring its
+  declared ``feature_extractor_cfg`` parameter.

source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/__init__.py

@@ -0,0 +1,6 @@
+# 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
+
+"""Contributed variants of the in-hand reorientation tasks."""

source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/__init__.py

@@ -0,0 +1,6 @@
+# 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
+
+"""Configurations for the contributed reorientation environments."""

source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/__init__.py

@@ -0,0 +1,41 @@
+# 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
+
+"""Shadow Hand rendering-throughput benchmark task."""
+
+import gymnasium as gym
+from gymnasium.envs.registration import EnvSpec, registry
+
+from isaaclab_tasks.core.reorient.config.shadow_hand import agents
+
+gym.register(
+    id="IsaacContrib-Reorient-Cube-Shadow-Camera-Benchmark-Direct",
+    entry_point="isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_camera_env:ShadowHandCameraEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.shadow_hand_camera_benchmark_env_cfg:ShadowHandCameraBenchmarkEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:ShadowHandCameraFFPPORunnerCfg",
+        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_camera_cfg.yaml",
+    },
+)
+
+# Retain the released ID as a deprecated alias by inserting its spec directly.
+registry.update(
+    {
+        "Isaac-Reorient-Cube-Shadow-Camera-Benchmark-Direct": EnvSpec(
+            id="Isaac-Reorient-Cube-Shadow-Camera-Benchmark-Direct",
+            entry_point=(
+                "isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_camera_env:ShadowHandCameraEnv"
+            ),
+            disable_env_checker=True,
+            kwargs={
+                "env_cfg_entry_point": f"{__name__}.shadow_hand_camera_benchmark_env_cfg:ShadowHandCameraBenchmarkEnvCfg",
+                "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:ShadowHandCameraFFPPORunnerCfg",
+                "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_camera_cfg.yaml",
+                "deprecated": {"alias": "--task IsaacContrib-Reorient-Cube-Shadow-Camera-Benchmark-Direct"},
+            },
+        ),
+    }
+)

source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/shadow_hand_camera_benchmark_env_cfg.py

@@ -0,0 +1,30 @@
+# 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
+
+"""Rendering-throughput benchmark variant of the Shadow Hand camera task."""
+
+from isaaclab.utils.configclass import configclass
+
+from isaaclab_tasks.core.reorient.config.shadow_hand.feature_extractor import FeatureExtractorCfg
+from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_camera_env_cfg import ShadowHandCameraEnvCfg
+
+
+@configclass
+class ShadowHandCameraBenchmarkEnvCfg(ShadowHandCameraEnvCfg):
+    """Benchmark configuration with the feature extractor CNN disabled.
+
+    The tiled camera renders frames each step as normal, but the CNN forward pass is
+    bypassed — zero embeddings are returned instead. This isolates rendering throughput
+    from CNN inference overhead when profiling.
+
+    The renderer backend and camera data types can still be selected via ``presets``::
+
+        presets = newton_renderer  # benchmark with Newton renderer
+        presets = ovrtx  # benchmark with OVRTX renderer
+        presets = rgb  # benchmark RGB rendering only
+        presets = depth, newton_renderer  # benchmark depth rendering with Newton
+    """
+
+    feature_extractor: FeatureExtractorCfg = FeatureExtractorCfg(enabled=False)

source/isaaclab_tasks/isaaclab_tasks/core/handover/__init__.py

@@ -15,6 +15,16 @@
 # Register Gym environments.
 ##
 
+gym.register(
+    id="Isaac-Shadow-Handover",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.handover_manager_env_cfg:HandoverManagerEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:HandoverPPORunnerCfg",
+    },
+)
+
 gym.register(
     id="Isaac-Shadow-Handover-Direct",
     entry_point=f"{__name__}.handover_env:HandoverEnv",

source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_common.py

@@ -15,22 +15,37 @@
 import isaaclab.sim as sim_utils
 from isaaclab.markers import VisualizationMarkersCfg
 
+from isaaclab_tasks.utils.hydra import preset
+
 from isaaclab_assets.robots.shadow_hand import (
     SHADOW_ACTUATED_JOINT_NAMES as ACTUATED_JOINT_NAMES,
 )
+from isaaclab_assets.robots.shadow_hand import (
+    SHADOW_ACTUATED_JOINT_NAMES_NEWTON,
+)
 from isaaclab_assets.robots.shadow_hand import (
     SHADOW_FINGERTIP_BODY_NAMES as FINGERTIP_BODY_NAMES,
 )
 
 __all__ = [
     "ACTUATED_JOINT_NAMES",
+    "ACTUATED_JOINT_NAMES_PRESET",
     "FINGERTIP_BODY_NAMES",
     "GOAL_MARKER_CFG",
     "GOAL_POSITION_OFFSET",
     "OBJECT_RADIUS",
 ]
 
 
+ACTUATED_JOINT_NAMES_PRESET = preset(
+    physx=ACTUATED_JOINT_NAMES,
+    newton_mjwarp=SHADOW_ACTUATED_JOINT_NAMES_NEWTON,
+    ovphysx=ACTUATED_JOINT_NAMES,
+    default=ACTUATED_JOINT_NAMES,
+)
+"""Per-backend actuated joint names, resolved by the physics preset key."""
+
+
 OBJECT_RADIUS: float = 0.0335
 """Hand-over object sphere radius [m], also used for the goal marker."""