[Task Clean-up][Manager] Dexterous Part 6/10: Add the handover and camera manager counterparts

docs/source/_static/css/environment-browser.js

@@ -47,6 +47,7 @@
             ["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"],
             ["Isaac-Shadow-Handover-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
+            ["Isaac-Shadow-Handover", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "randomized"],
             ["Isaac-Velocity-Flat-AnymalD", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
             ["Isaac-Velocity-Flat-Cassie", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
             ["Isaac-Velocity-Flat-G1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],

docs/source/overview/environments.rst

@@ -1260,6 +1260,11 @@ including disabling runtime perturbations used for training.
       - Direct
       - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO, IPPO, MAPPO)
       - **physics=** ``isaacsim_physx``, ``newton_mjwarp``, ``ovphysx``
+    * - Isaac-Shadow-Handover
+      - Manager Based
+      - **rsl_rl** (PPO)
+      - | **physics=** ``isaacsim_physx``, ``newton_mjwarp``, ``ovphysx``
+          | **presets=** ``randomized``
     * - Isaac-Velocity-Flat-AnymalD
       - Manager Based
       - **rsl_rl** (PPO, DISTILLATION, DISTILLATION_RECURRENT, RECURRENT), **skrl** (PPO)

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 the Kit PhysX backend by
+  default, since only the Isaac RTX tiled camera renders the default modalities.
+  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/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_env_cfg.py

@@ -8,13 +8,10 @@
 from isaaclab_ov.physics import OvPhysxCfg
 from isaaclab_physx.physics import PhysxCfg
 
-import isaaclab.envs.mdp as mdp
 import isaaclab.sim as sim_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.assets import ArticulationCfg, RigidObjectCfg
 from isaaclab.envs import DirectMARLEnvCfg
-from isaaclab.managers import EventTermCfg as EventTerm
-from isaaclab.managers import SceneEntityCfg
 from isaaclab.markers import VisualizationMarkersCfg
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.scene import InteractiveSceneCfg
@@ -33,120 +30,21 @@
 from isaaclab_assets.robots.shadow_hand import SHADOW_HAND_CFG, SHADOW_HAND_NEWTON_CFG
 
 
-@configclass
-class EventCfg:
-    """Configuration for randomization (PhysX path).
-
-    Note: this config is currently not wired into ``HandoverEnvCfg.events`` -
-    it is kept as a reference for future event-randomization work. The event
-    terms here use PhysX-only APIs (rigid-body materials, fixed tendons), so
-    they would need a Newton variant before being enabled in the env.
-    """
-
-    # -- robot
-    robot_physics_material = EventTerm(
-        func=mdp.randomize_rigid_body_material,
-        mode="reset",
-        min_step_count_between_reset=720,
-        params={
-            "asset_cfg": SceneEntityCfg("right_hand"),
-            "static_friction_range": (0.7, 1.3),
-            "dynamic_friction_range": (1.0, 1.0),
-            "restitution_range": (1.0, 1.0),
-            "num_buckets": 250,
-        },
-    )
-    robot_joint_stiffness_and_damping = EventTerm(
-        func=mdp.randomize_actuator_gains,
-        min_step_count_between_reset=720,
-        mode="reset",
-        params={
-            "asset_cfg": SceneEntityCfg("right_hand", joint_names=".*"),
-            "stiffness_distribution_params": (0.75, 1.5),
-            "damping_distribution_params": (0.3, 3.0),
-            "operation": "scale",
-            "distribution": "log_uniform",
-        },
-    )
-    robot_joint_pos_limits = EventTerm(
-        func=mdp.randomize_joint_parameters,
-        min_step_count_between_reset=720,
-        mode="reset",
-        params={
-            "asset_cfg": SceneEntityCfg("right_hand", joint_names=".*"),
-            "lower_limit_distribution_params": (0.00, 0.01),
-            "upper_limit_distribution_params": (0.00, 0.01),
-            "operation": "add",
-            "distribution": "gaussian",
-        },
-    )
-    robot_tendon_properties = EventTerm(
-        func=mdp.randomize_fixed_tendon_parameters,
-        min_step_count_between_reset=720,
-        mode="reset",
-        params={
-            "asset_cfg": SceneEntityCfg("right_hand", fixed_tendon_names=".*"),
-            "stiffness_distribution_params": (0.75, 1.5),
-            "damping_distribution_params": (0.3, 3.0),
-            "operation": "scale",
-            "distribution": "log_uniform",
-        },
-    )
-
-    # -- object
-    object_physics_material = EventTerm(
-        func=mdp.randomize_rigid_body_material,
-        min_step_count_between_reset=720,
-        mode="reset",
-        params={
-            "asset_cfg": SceneEntityCfg("object"),
-            "static_friction_range": (0.7, 1.3),
-            "dynamic_friction_range": (1.0, 1.0),
-            "restitution_range": (1.0, 1.0),
-            "num_buckets": 250,
-        },
-    )
-    object_scale_mass = EventTerm(
-        func=mdp.randomize_rigid_body_mass,
-        min_step_count_between_reset=720,
-        mode="reset",
-        params={
-            "asset_cfg": SceneEntityCfg("object"),
-            "mass_distribution_params": (0.5, 1.5),
-            "operation": "scale",
-            "distribution": "uniform",
-        },
-    )
-
-    # -- scene
-    reset_gravity = EventTerm(
-        func=mdp.randomize_physics_scene_gravity,
-        mode="interval",
-        is_global_time=True,
-        interval_range_s=(36.0, 36.0),  # time_s = num_steps * (decimation * dt)
-        params={
-            "gravity_distribution_params": ([0.0, 0.0, 0.0], [0.0, 0.0, 0.4]),
-            "operation": "add",
-            "distribution": "gaussian",
-        },
-    )
-
-
 def _shadow_hand_cfg(
     prim_path: str,
     init_pos: tuple[float, float, float],
     init_rot: tuple[float, float, float, float],
 ) -> PresetCfg:
-    """Per-hand Shadow Hand preset (PhysX, Newton MJWarp, and OVPhysX variants).
+    """Build the per-hand Shadow Hand preset for each supported backend.
 
-    All variants are placed at *prim_path* with the same init pose; per-hand
-    differences (right vs left) come from the caller's *prim_path* / *init_pos* /
-    *init_rot* — the gain tuning is identical on both hands.
+    Args:
+        prim_path: Scene path the hand spawns at.
+        init_pos: Spawn position [m].
+        init_rot: Spawn orientation as ``(w, x, y, z)``.
 
-    The Newton variant reuses the shared actuator defined on ``SHADOW_HAND_NEWTON_CFG``,
-    raising its gains to ``20.0`` / ``2.0`` -- the catch needs more joint authority than
-    reorientation. The scalar replaces the per-joint gain mapping, so it applies to the whole
-    actuator group.
+    Returns:
+        A preset carrying the PhysX, Newton MJWarp and OvPhysX variants, each at
+        *prim_path* with the given pose. The two hands differ only in these arguments.
     """
     physx_cfg = SHADOW_HAND_CFG.replace(prim_path=prim_path).replace(
         init_state=ArticulationCfg.InitialStateCfg(pos=init_pos, rot=init_rot, joint_pos={".*": 0.0})
@@ -196,67 +94,37 @@ def _shadow_hand_cfg(
 )
 
 
-@configclass
-class ObjectCfg(PresetCfg):
-    """Hand-over object preset.
-
-    Both backends spawn the same procedural sphere as a free rigid body:
-    Newton's :class:`~isaaclab_newton.assets.RigidObject` resolves the
-    asset via the ``UsdPhysics.RigidBodyAPI`` that
-    :class:`~isaaclab.sim.RigidBodyPropertiesCfg` applies. The Newton
-    variant drops PhysX-only knobs (per-shape solver iterations, sleep
-    thresholds, max depenetration velocity, custom physics material).
-    """
-
-    physx = RigidObjectCfg(
-        prim_path="{ENV_REGEX_NS}/object",
-        spawn=sim_utils.SphereCfg(
-            radius=OBJECT_RADIUS,
-            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.8, 1.0, 0.0)),
-            physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=0.7),
-            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,
-            ),
-            collision_props=sim_utils.CollisionPropertiesCfg(),
-            mass_props=sim_utils.MassPropertiesCfg(density=500.0),
-        ),
-        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, -0.39, 0.54), rot=(0.0, 0.0, 0.0, 1.0)),
-    )
-    newton_mjwarp = RigidObjectCfg(
-        prim_path="{ENV_REGEX_NS}/object",
-        spawn=sim_utils.SphereCfg(
-            radius=OBJECT_RADIUS,
-            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.8, 1.0, 0.0)),
-            rigid_props=sim_utils.RigidBodyPropertiesCfg(
-                kinematic_enabled=False,
-                disable_gravity=False,
-                enable_gyroscopic_forces=True,
-            ),
-            collision_props=sim_utils.CollisionPropertiesCfg(),
-            mass_props=sim_utils.MassPropertiesCfg(density=500.0),
+BALL_CFG = RigidObjectCfg(
+    prim_path="{ENV_REGEX_NS}/object",
+    spawn=sim_utils.SphereCfg(
+        radius=OBJECT_RADIUS,
+        visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.8, 1.0, 0.0)),
+        physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=0.7),
+        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,
         ),
-        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, -0.39, 0.54), rot=(0.0, 0.0, 0.0, 1.0)),
-    )
-    ovphysx = physx
-    isaacsim_physx = physx
-    default = newton_mjwarp
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+        mass_props=sim_utils.MassPropertiesCfg(density=500.0),
+    ),
+    init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, -0.39, 0.54), rot=(0.0, 0.0, 0.0, 1.0)),
+)
+"""Hand-over ball, thrown from one Shadow hand to the other."""
 
 
 @configclass
 class PhysicsCfg(PresetCfg):
     """Physics-backend preset (PhysX vs Newton/MJWarp).
 
-    Newton settings mirror the single-agent ShadowHand Newton port: elliptic
-    cone, ``impratio=10`` (favors normal contacts over friction), 100 solver
-    iterations, 2 substeps. Empirically converges on the single-agent ShadowHand
-    tasks; tuning may be needed for handover-specific contact dynamics.
+    Newton mirrors the single-agent Shadow Hand Newton port: an elliptic friction
+    cone with ``impratio=10``, which weights normal contacts over friction, 100
+    solver iterations and 2 substeps.
     """
 
     isaacsim_physx = PhysxCfg(
@@ -310,7 +178,7 @@ class HandoverEnvCfg(DirectMARLEnvCfg):
     fingertip_body_names = FINGERTIP_BODY_NAMES
 
     # in-hand object
-    object_cfg: ObjectCfg = ObjectCfg()
+    object_cfg: RigidObjectCfg = BALL_CFG
     # goal object
     goal_object_cfg: VisualizationMarkersCfg = GOAL_MARKER_CFG
     # scene