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[Task Clean-up][Manager] Dexterous Part 5/10: Add the reorientation manager counterparts #6418

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Merged
hujc7 merged 36 commits into from
Aug 11, 2026
Merged

[Task Clean-up][Manager] Dexterous Part 5/10: Add the reorientation manager counterparts #6418

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b31b04e
Add the manager-based counterparts for the reorientation tasks
hujc7 Aug 7, 2026
4bf99a8
Add the reorientation manager MDP terms
hujc7 Aug 8, 2026
0a2cd74
Share one manager configuration across both hands
hujc7 Aug 8, 2026
6763361
Add the Shadow Hand manager and camera counterparts
hujc7 Aug 8, 2026
3af14d9
Name the reorientation runner configs after their workflow
hujc7 Aug 8, 2026
8f90a31
Move the OpenAI Shadow Hand variants to the contributed tasks
hujc7 Aug 8, 2026
06cb931
Refresh the Shadow rendering goldens for the moved cube
hujc7 Aug 8, 2026
5458f56
Update the environment catalog and changelog
hujc7 Aug 8, 2026
9653932
Give each fingertip term its own scene entity
hujc7 Aug 8, 2026
11295b4
Complete the Shadow Hand camera manager port
hujc7 Aug 8, 2026
c50c584
Merge branch 'jichuanh/task-cleanup-dex-part08' of https://github.com…
hujc7 Aug 8, 2026
f14a485
Merge remote-tracking branch 'upstream/develop' into jichuanh/task-cl…
hujc7 Aug 8, 2026
c097ffc
Regenerate the environment catalog after the develop merge
hujc7 Aug 8, 2026
c501827
Drop changelog fragments develop already compiled
hujc7 Aug 8, 2026
ddc7a63
Compose the observation groups and reuse the framework object reset
hujc7 Aug 8, 2026
e848adb
Merge remote-tracking branch 'upstream/develop' into jichuanh/task-cl…
hujc7 Aug 8, 2026
b09f480
Regenerate the environment catalog after the develop merge
hujc7 Aug 8, 2026
2523f93
Restore the OpenAI feed-forward and LSTM task identifiers
hujc7 Aug 9, 2026
ca9312a
Report the same success rate from both reorientation workflows
hujc7 Aug 9, 2026
8ee9702
Drop redundant configuration arguments from the reorientation tasks
hujc7 Aug 9, 2026
0271783
Merge remote-tracking branch 'upstream/develop' into jichuanh/task-cl…
hujc7 Aug 9, 2026
0aeea34
Remove the unused sequential X/Y rotation helper
hujc7 Aug 9, 2026
37ab458
Name the reorientation configuration classes by their role
hujc7 Aug 10, 2026
52e1c24
Merge remote-tracking branch 'upstream/develop' into jichuanh/task-cl…
hujc7 Aug 10, 2026
f26dfc8
Refresh the Newton colour goldens for the shared in-hand cube
hujc7 Aug 10, 2026
8ce0466
Merge remote-tracking branch 'upstream/develop' into jichuanh/task-cl…
hujc7 Aug 10, 2026
47237c1
Take the Newton Shadow Hand colour goldens from CI renders
hujc7 Aug 10, 2026
c7447f9
Merge remote-tracking branch 'upstream/develop' into jichuanh/task-cl…
hujc7 Aug 11, 2026
32b3848
Drop the Direct-versus-manager value-parity test
hujc7 Aug 11, 2026
f90fd77
Reset the Shadow Hand goldens to develop's baseline
hujc7 Aug 11, 2026
682a513
Update the Newton Shadow Hand goldens for the shared in-hand cube
hujc7 Aug 11, 2026
51a29ef
Merge remote-tracking branch 'upstream/develop' into jichuanh/task-cl…
hujc7 Aug 11, 2026
c07c8da
Merge branch 'develop' into jichuanh/task-cleanup-dex-part08
hujc7 Aug 11, 2026
f201e6f
Keep the shared task helpers in isaaclab_tasks.core.utils
hujc7 Aug 11, 2026
837dae3
Update the kitless Shadow Hand goldens for the shared in-hand cube
hujc7 Aug 11, 2026
1ecbdfb
Merge remote-tracking branch 'upstream/develop' into jichuanh/task-cl…
hujc7 Aug 11, 2026
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22 changes: 11 additions & 11 deletions docs/source/_static/css/environment-browser.js
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Expand Up @@ -12,34 +12,34 @@
// Generated from the core rows in source/overview/environments.rst.
// START-AUTO-GENERATED: environment-browser-task-rows
const taskRows = [
["Isaac-Ant", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp", "", ""],
["Isaac-Ant-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
["Isaac-Ant", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
["Isaac-Cartpole-Direct", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
["Isaac-Cartpole", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
["Isaac-Cartpole-Camera", "rl_games,rsl_rl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,resnet18,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl,theia_tiny"],
["Isaac-Cartpole-Camera-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl"],
["Isaac-Cartpole-Direct", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
["Isaac-Cartpole-Camera", "rl_games,rsl_rl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,resnet18,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl,theia_tiny"],
["Isaac-Fourbar-Pole-Swingup", "rsl_rl", "newton_kamino", "", ""],
["Isaac-Humanoid", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_mjwarp", "", ""],
["Isaac-Humanoid-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
["Isaac-Humanoid", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
["Isaac-Lift-Cloth-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy", "", "ik,joint"],
["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint"],
["Isaac-Lift-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp", "", "cube,shapes"],
["Isaac-Lift-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes"],
["Isaac-Lift-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera"],
["Isaac-Lift-Soft-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint"],
["Isaac-Lift-Soft-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint"],
["Isaac-Open-Drawer-Franka-Direct", "rl_games,rsl_rl,skrl", "", "", ""],
["Isaac-Open-Drawer-Franka", "rl_games,rsl_rl,skrl", "", "", ""],
["Isaac-Open-Drawer-Franka-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
["Isaac-Pendulum-Direct", "rl_games,skrl", "", "", ""],
["Isaac-Reach-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik,diffik_abs,joint_pos,newton_ik"],
["Isaac-Reach-Franka-OSC", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
["Isaac-Reach-Franka-OSC", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik_abs"],
["Isaac-Reach-UR10", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
["Isaac-Reorient-Cube-Allegro", "rl_games,rsl_rl,skrl", "", "", ""],
["Isaac-Reorient-Cube-Allegro-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
["Isaac-Reorient-Cube-Shadow-Camera-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl"],
["Isaac-Reorient-Cube-Shadow-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
["Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
["Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
["Isaac-Reorient-Cube-Allegro", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "randomized,reset_only"],
["Isaac-Reorient-Cube-Shadow-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
["Isaac-Reorient-Cube-Shadow", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "asymmetric,randomized"],
["Isaac-Reorient-Cube-Shadow-Camera-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl"],
["Isaac-Reorient-Cube-Shadow-Camera", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,randomized,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl"],
["Isaac-Reorient-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp", "", "cube,shapes"],
["Isaac-Reorient-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes"],
["Isaac-Reorient-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera"],
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4 changes: 2 additions & 2 deletions docs/source/how-to/optimize_stage_creation.rst
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Expand Up @@ -93,8 +93,8 @@ Limitations
27. Isaac-Reorient-Cube-Allegro-Direct
28. Isaac-Reorient-Cube-Allegro
29. Isaac-Reorient-Cube-Shadow-Direct
30. Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct
31. Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct
30. IsaacContrib-Reorient-Cube-Shadow-OpenAI-FF-Direct
31. IsaacContrib-Reorient-Cube-Shadow-OpenAI-LSTM-Direct

**Stage in Memory**

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