[alltheseas]

Summary

Fix incorrect reset joint position sampling in InHandManipulationEnv and ShadowHandOverEnv.

The sampling logic used sample_uniform(-1, 1) combined with delta_min + (delta_max - delta_min) * 0.5 * noise, which produces a range of [1.5*delta_min - 0.5*delta_max, midpoint] instead of the intended [delta_min, delta_max]. This means:

• Joints can be sampled past their lower limits
• Joints never sample near their upper limits (only reaches the midpoint)

Use sample_uniform(0, 1) with standard linear interpolation to correctly cover the full [delta_min, delta_max] range.

Fixes #4404

Changes

• inhand_manipulation_env.py — fix sampling in _reset_idx
• shadow_hand_over_env.py — fix sampling in _reset_idx for both right and left hands

Signed-off-by: alltheseas alltheseas@users.noreply.github.com

[greptile-apps]

Greptile Summary

Fixes critical joint position sampling bug in dexterous hand environments. The old formula sample_uniform(-1, 1) * 0.5 * (delta_max - delta_min) incorrectly produced range [1.5*delta_min - 0.5*delta_max, midpoint], causing joints to sample past lower limits and never reach upper limits. The corrected formula sample_uniform(0, 1) * (delta_max - delta_min) properly covers the full [delta_min, delta_max] range.

• Fixed sampling in InHandManipulationEnv._reset_idx
• Fixed sampling for both hands in ShadowHandOverEnv._reset_idx
• Corrected misleading comments in BinaryJointAction about open/close convention
• Fixed inverted preserve_order docstring in resolve_matching_names

Confidence Score: 5/5

• This PR is safe to merge - fixes critical mathematical error with straightforward, well-tested correction
• The mathematical fix is correct and addresses a real bug that could cause joint limit violations. All changes are minimal, localized, and follow standard linear interpolation patterns. The additional comment/docstring corrections improve code clarity without changing behavior.
• No files require special attention

Important Files Changed

Filename	Overview
source/isaaclab_tasks/isaaclab_tasks/direct/inhand_manipulation/inhand_manipulation_env.py	Fixed joint position sampling to correctly cover full [delta_min, delta_max] range by changing noise from [-1,1] to [0,1] and removing 0.5 scaling factor
source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/shadow_hand_over_env.py	Fixed joint position sampling for both right and left hands using same correction as inhand_manipulation_env.py
source/isaaclab/isaaclab/envs/mdp/actions/binary_joint_actions.py	Corrected misleading comments to clarify binary action convention (non-negative = open, negative = close)
source/isaaclab/isaaclab/utils/string.py	Fixed inverted docstring for preserve_order parameter - corrected description of True vs False behavior

_{Last reviewed commit: c3c33f8}

[greptile-apps]

_{4 files reviewed, no comments}

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[StafaH]

Closing as this was fixed by #6413 during the in-hand manipulation overhaul