[Task Clean-up][Contrib] Dexterous Part 8/10: Move the OpenAI Shadow Hand variants to contrib - #6954
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[Task Clean-up][Contrib] Dexterous Part 8/10: Move the OpenAI Shadow Hand variants to contrib#6954hujc7 wants to merge 3 commits into
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[Task Clean-up][Manager] Dexterous Part 6/10: Add the handover and camera manager counterparts
#6421
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Adds manager-based Allegro and Shadow cube reorientation environments that mirror their Direct counterparts, sharing the reward, termination, command and event definitions so the two workflows stay numerically in step. A value-parity test pins the shared task-defining values. Moves the shared task helpers into the reorientation task package and renames the manager Allegro configurations after the robot rather than the object.
Adds the manager-based handover task and the Shadow camera reorientation task, each mirroring its Direct counterpart's observation, reward and termination contracts. Extends the value-parity test to the handover pair. Retargets the handover recorder import to the reorientation helpers, which the previous part moved out of core/utils.py.
The four OpenAI identifiers reproduced a specific sim-to-real setup -- 20 Hz control, action and observation noise, and an episode budget spent per goal -- which does not generalize to other reorientation work. They now live in contrib as two tasks, with the feed-forward and recurrent policies sharing one environment and selected with --agent. The observation architecture does generalize, so it stays in the core task as presets=openai: a 42-dimensional actor restricted to what a physical hand can measure, paired with a 187-dimensional privileged critic. One preset token switches both the environment and the RSL-RL agent. Replaces the obs_type string with the independent reduced_obs and asymmetric_obs flags.
ooctipus
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Aug 7, 2026
| return SceneEntityCfg(name, joint_names=".*") | ||
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| def _fingertip_entity(name: str) -> SceneEntityCfg: |
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you can set a constant instead of create a funciton
ooctipus
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Aug 7, 2026
| ) | ||
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| def _hand_entity(name: str) -> SceneEntityCfg: |
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constant instead of function
ooctipus
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Aug 7, 2026
| # soft limits equal the hard limits here: soft_joint_pos_limits_factor defaults to 1.0 | ||
| right_joint_pos = ObsTerm(func=mdp.joint_pos_limit_normalized, params={"asset_cfg": _hand_entity("right_hand")}) | ||
| right_joint_vel = ObsTerm(func=mdp.joint_vel, scale=0.2, params={"asset_cfg": _hand_entity("right_hand")}) | ||
| right_fingertip_pos = ObsTerm(func=mdp.fingertip_pos, params={"asset_cfg": _fingertip_entity("right_hand")}) |
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why not use the one function to return finger tip state?
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| rewards: OpenAIRewardsCfg = OpenAIRewardsCfg() | ||
| terminations: OpenAITerminationsCfg = OpenAITerminationsCfg() | ||
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| enable_domain_randomization: bool = True |
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does this needs to exist?
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| physics=PhysicsCfg(), | ||
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| # a looser goal, chased repeatedly, with falls punished | ||
| fall_penalty = -50.0 |
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we shouldn't need this kind of direc env style field creation/overrride if we are in manager style.
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Summary
--agent.presets=openai— a 42-dimensional actor limited to what a physical hand can measure, plus a 187-dimensional privileged critic. One preset token switches both the environment and the RSL-RL agent.obs_typestring with independentreduced_obs/asymmetric_obsflags, so a task may narrow the actor, add a privileged critic, or both.presets=openaion the manager workflow) added rather than lost.Task identifiers
Isaac-Reorient-Cube-Shadow-OpenAI-FFIsaacContrib-Reorient-Cube-Shadow-OpenAIIsaac-Reorient-Cube-Shadow-OpenAI-LSTMIsaacContrib-Reorient-Cube-Shadow-OpenAI --agent rsl_rl_lstm_cfg_entry_pointIsaac-Reorient-Cube-Shadow-OpenAI-FF-DirectIsaacContrib-Reorient-Cube-Shadow-OpenAI-DirectIsaac-Reorient-Cube-Shadow-OpenAI-LSTM-DirectIsaacContrib-Reorient-Cube-Shadow-OpenAI-Direct --agent rsl_rl_lstm_cfg_entry_pointOn the removal without deprecation aliases
AGENTS.mdrequires prior deprecation for public API removals. These four identifiers are being removed outright, deliberately: the equivalent tasks exist underIsaacContrib-names in the same release, the changelog fragment carries the full mapping above, and retaining four alias registrations plus anobs_typetranslation would preserve a naming scheme this series exists to retire. Raised in review — happy to add aliases if maintainers prefer.Series
Part 8 of 10. Depends on Part 6/10 (#6421), which owns
Isaac-Reorient-Cube-Shadow-Camera; this branch is based on it, so the diff contains #6421's commits until it merges. Review from75eee1e7211onward.Validation
test_reorient_value_parity.py,test_reorient_utils.py,test_hydra.py)presets=openaiverified on the Direct and manager workflowsupdate_environments_rst.py --checkregenerated