Merge the rebuilt handover and camera manager base

# Conflicts:
#	source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_manager_env_cfg.py
#	source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_camera_manager_env_cfg.py
#	source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_manager_env_cfg.py

Author: hujc7

source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_manager_env_cfg.py

@@ -11,9 +11,7 @@
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
-from isaaclab.managers import RewardTermCfg as RewTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.utils.configclass import configclass
 
@@ -28,8 +26,11 @@
 from isaaclab_tasks.core.reorient.reorient_task_base import (
     ALLEGRO_ACTUATED_JOINT_NAMES,
     ALLEGRO_FINGERTIP_BODY_NAMES,
-    GOAL_MARKER_POSITION,
-    IN_HAND_POS_OFFSET,
+    ReorientTerminationsCfg,
+    reorient_goal_command,
+    reorient_joint_action,
+    reorient_reset_event,
+    reorient_reward_term,
 )
 from isaaclab_tasks.utils import PresetCfg
 
@@ -56,43 +57,27 @@ class SceneCfg(InteractiveSceneCfg):
 
     physx = SceneCfg(clone_in_fabric=True)
     newton_mjwarp = SceneCfg(clone_in_fabric=False)
-    ovphysx = SceneCfg(clone_in_fabric=True)
+    ovphysx = physx
     default = physx
 
     def set_num_envs(self, num_envs: int) -> None:
         """Set the environment count on every backend alternative."""
-        self.physx.num_envs = num_envs
-        self.newton_mjwarp.num_envs = num_envs
-        self.ovphysx.num_envs = num_envs
-        self.default.num_envs = num_envs
+        for scene in (self.physx, self.newton_mjwarp, self.ovphysx, self.default):
+            scene.num_envs = num_envs
 
 
 @configclass
 class CommandsCfg:
-    """Object pose goal matching the Direct in-hand target."""
-
-    object_pose = mdp.ReorientEpisodeCommandCfg(
-        asset_name="object",
-        init_pos_offset=IN_HAND_POS_OFFSET,
-        update_goal_on_success=True,
-        orientation_success_threshold=0.2,
-        make_quat_unique=False,
-        fixed_marker_pos=GOAL_MARKER_POSITION,
-        goal_pose_visualizer_cfg=GOAL_OBJECT_CFG,
-        debug_vis=True,
-    )
+    """The reorient goal command with the Allegro marker and tolerance."""
+
+    object_pose = reorient_goal_command(orientation_success_threshold=0.2, goal_pose_visualizer_cfg=GOAL_OBJECT_CFG)
 
 
 @configclass
 class ActionsCfg:
     """Sixteen actuated Allegro Hand joints in Direct order."""
 
-    joint_pos = mdp.EMAJointPositionToLimitsActionCfg(
-        asset_name="robot",
-        joint_names=ALLEGRO_ACTUATED_JOINT_NAMES,
-        alpha=1.0,
-        rescale_to_limits=True,
-    )
+    joint_pos = reorient_joint_action(ALLEGRO_ACTUATED_JOINT_NAMES)
 
 
 @configclass
@@ -217,55 +202,14 @@ class EventCfg:
         },
     )
 
-    reset_state = EventTerm(
-        func=mdp.reset_reorient_state,
-        mode="reset",
-        params={
-            "position_noise": 0.01,
-            "joint_position_noise": 0.2,
-            "joint_velocity_noise": 0.0,
-            "action_name": "joint_pos",
-        },
-    )
+    reset_state = reorient_reset_event()
 
 
 @configclass
 class RewardsCfg:
-    """Direct-compatible reward and success accounting."""
-
-    reorient = RewTerm(
-        func=mdp.ReorientReward,
-        weight=1.0,
-        params={
-            "command_name": "object_pose",
-            "distance_scale": -10.0,
-            "rotation_scale": 1.0,
-            "rotation_epsilon": 0.1,
-            "action_penalty_scale": -0.0002,
-            "success_tolerance": 0.2,
-            "success_bonus": 250.0,
-            "fall_distance": 0.24,
-            "fall_penalty": 0.0,
-            "averaging_factor": 0.1,
-            "success_count_threshold": 1,
-            "object_cfg": SceneEntityCfg("object"),
-        },
-    )
-
-
-@configclass
-class TerminationsCfg:
-    """Termination conditions matching the Direct task."""
+    """The reorient reward with the Allegro success tolerance."""
 
-    object_out_of_reach = DoneTerm(
-        func=mdp.object_reorientation_out_of_reach,
-        params={
-            "threshold": 0.24,
-            "command_name": "object_pose",
-            "object_cfg": SceneEntityCfg("object"),
-        },
-    )
-    time_out = DoneTerm(func=mdp.time_out, time_out=True)
+    reorient = reorient_reward_term(success_tolerance=0.2)
 
 
 @configclass
@@ -277,7 +221,8 @@ class AllegroCubeEnvCfg(AllegroHandTaskCfgBase, ManagerBasedRLEnvCfg):
     actions: ActionsCfg = ActionsCfg()
     commands: CommandsCfg = CommandsCfg()
     rewards: RewardsCfg = RewardsCfg()
-    terminations: TerminationsCfg = TerminationsCfg()
+    # the shared termination section from isaaclab_tasks.core.reorient.reorient_task_base
+    terminations: ReorientTerminationsCfg = ReorientTerminationsCfg()
     events: EventCfg = EventCfg()
 
     enable_domain_randomization: bool = False

source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_camera_manager_env_cfg.py

@@ -18,12 +18,9 @@
 )
 from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_manager_env_cfg import (
     ActionsCfg,
-    CommandsCfg,
     EventCfg,
     FullStateWithoutActionCfg,
-    RewardsCfg,
     ShadowHandManagerEnvCfg,
-    TerminationsCfg,
     _ShadowHandManagerSceneCfg,
 )
 from isaaclab_tasks.core.reorient.reorient_task_base import (
@@ -122,9 +119,8 @@ class ShadowHandCameraManagerEnvCfg(ShadowHandManagerEnvCfg):
     scene: ShadowHandCameraManagerSceneCfg = ShadowHandCameraManagerSceneCfg()
     observations: CameraObservationsCfg = CameraObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    commands: CommandsCfg = CommandsCfg()
-    rewards: RewardsCfg = RewardsCfg()
-    terminations: TerminationsCfg = TerminationsCfg()
+    # commands/rewards/terminations are inherited from ShadowHandManagerEnvCfg (the
+    # shared sections from isaaclab_tasks.core.reorient.reorient_task_base)
     events: EventCfg = EventCfg()
     feature_extractor: FeatureExtractorCfg = FeatureExtractorCfg()
 

source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_manager_env_cfg.py

@@ -8,10 +8,8 @@
 import isaaclab.sim as sim_utils
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
-from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
-from isaaclab.managers import RewardTermCfg as RewTerm
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.scene import InteractiveSceneCfg
@@ -32,10 +30,13 @@
     ShadowHandTaskCfgBase,
 )
 from isaaclab_tasks.core.reorient.reorient_task_base import (
-    GOAL_MARKER_POSITION,
-    IN_HAND_POS_OFFSET,
     SHADOW_ACTUATED_JOINT_NAMES,
     SHADOW_FINGERTIP_BODY_NAMES,
+    ReorientTerminationsCfg,
+    reorient_goal_command,
+    reorient_joint_action,
+    reorient_reset_event,
+    reorient_reward_term,
 )
 from isaaclab_tasks.utils import PresetCfg
 
@@ -68,32 +69,11 @@ class ShadowHandManagerSceneCfg(PresetCfg):
     default = physx
 
 
-@configclass
-class CommandsCfg:
-    """Object pose goal matching the Direct in-hand target."""
-
-    object_pose = mdp.ReorientEpisodeCommandCfg(
-        asset_name="object",
-        init_pos_offset=IN_HAND_POS_OFFSET,
-        update_goal_on_success=True,
-        orientation_success_threshold=0.1,
-        make_quat_unique=False,
-        fixed_marker_pos=GOAL_MARKER_POSITION,
-        goal_pose_visualizer_cfg=GOAL_OBJECT_CFG,
-        debug_vis=True,
-    )
-
-
 @configclass
 class ActionsCfg:
     """Twenty actuated Shadow Hand joints."""
 
-    joint_pos = mdp.EMAJointPositionToLimitsActionCfg(
-        asset_name="robot",
-        joint_names=SHADOW_ACTUATED_JOINT_NAMES,
-        alpha=1.0,
-        rescale_to_limits=True,
-    )
+    joint_pos = reorient_joint_action(SHADOW_ACTUATED_JOINT_NAMES)
 
 
 @configclass
@@ -158,55 +138,21 @@ class PolicyCfg(FullStateWithoutActionCfg):
 class EventCfg:
     """Reset distributions matching the Direct task."""
 
-    reset_state = EventTerm(
-        func=mdp.reset_reorient_state,
-        mode="reset",
-        params={
-            "position_noise": 0.01,
-            "joint_position_noise": 0.2,
-            "joint_velocity_noise": 0.0,
-            "action_name": "joint_pos",
-        },
-    )
+    reset_state = reorient_reset_event()
 
 
 @configclass
-class RewardsCfg:
-    """Direct-compatible reward and success accounting."""
+class CommandsCfg:
+    """The reorient goal command with the Shadow Hand goal marker."""
 
-    reorient = RewTerm(
-        func=mdp.ReorientReward,
-        weight=1.0,
-        params={
-            "command_name": "object_pose",
-            "distance_scale": -10.0,
-            "rotation_scale": 1.0,
-            "rotation_epsilon": 0.1,
-            "action_penalty_scale": -0.0002,
-            "success_tolerance": 0.1,
-            "success_bonus": 250.0,
-            "fall_distance": 0.24,
-            "fall_penalty": 0.0,
-            "averaging_factor": 0.1,
-            "success_count_threshold": 1,
-            "object_cfg": SceneEntityCfg("object"),
-        },
-    )
+    object_pose = reorient_goal_command(goal_pose_visualizer_cfg=GOAL_OBJECT_CFG)
 
 
 @configclass
-class TerminationsCfg:
-    """Termination conditions matching the Direct task."""
+class RewardsCfg:
+    """Direct-compatible reward and success accounting (the factory defaults)."""
 
-    object_out_of_reach = DoneTerm(
-        func=mdp.object_reorientation_out_of_reach,
-        params={
-            "threshold": 0.24,
-            "command_name": "object_pose",
-            "object_cfg": SceneEntityCfg("object"),
-        },
-    )
-    time_out = DoneTerm(func=mdp.time_out, time_out=True)
+    reorient = reorient_reward_term()
 
 
 @configclass
@@ -218,7 +164,8 @@ class ShadowHandManagerEnvCfg(ShadowHandTaskCfgBase, ManagerBasedRLEnvCfg):
     actions: ActionsCfg = ActionsCfg()
     commands: CommandsCfg = CommandsCfg()
     rewards: RewardsCfg = RewardsCfg()
-    terminations: TerminationsCfg = TerminationsCfg()
+    # the shared termination section from isaaclab_tasks.core.reorient.reorient_task_base
+    terminations: ReorientTerminationsCfg = ReorientTerminationsCfg()
     events: EventCfg = EventCfg()
 
     def __post_init__(self):
@@ -228,22 +175,6 @@ def __post_init__(self):
         self.viewer.eye = (2.0, 2.0, 2.0)
 
 
-@configclass
-class OpenAICommandsCfg:
-    """OpenAI goal command with its wider success tolerance."""
-
-    object_pose = mdp.ReorientEpisodeCommandCfg(
-        asset_name="object",
-        init_pos_offset=IN_HAND_POS_OFFSET,
-        update_goal_on_success=True,
-        orientation_success_threshold=0.4,
-        make_quat_unique=False,
-        fixed_marker_pos=GOAL_MARKER_POSITION,
-        goal_pose_visualizer_cfg=GOAL_OBJECT_CFG,
-        debug_vis=True,
-    )
-
-
 @configclass
 class OpenAIActionsCfg:
     """OpenAI actions with Direct-compatible EMA and stateful noise."""
@@ -312,26 +243,18 @@ class SceneCfg(_ShadowHandManagerSceneCfg):
     default = physx
 
 
-_OPENAI_RESET_PARAMS = {
-    "position_noise": 0.01,
-    "joint_position_noise": 0.2,
-    "joint_velocity_noise": 0.0,
-    "action_name": "joint_pos",
-}
-
-
 @configclass
 class OpenAIPhysxEventCfg(PhysxEventCfg):
     """PhysX OpenAI randomization and state reset events."""
 
-    reset_state = EventTerm(func=mdp.reset_reorient_state, mode="reset", params=_OPENAI_RESET_PARAMS)
+    reset_state = reorient_reset_event()
 
 
 @configclass
 class OpenAINewtonEventCfg(NewtonEventCfg):
     """Newton OpenAI randomization and state reset events."""
 
-    reset_state = EventTerm(func=mdp.reset_reorient_state, mode="reset", params=_OPENAI_RESET_PARAMS)
+    reset_state = reorient_reset_event()
 
 
 @configclass
@@ -345,29 +268,18 @@ class OpenAIEventCfg(PresetCfg):
     default = physx
 
 
+@configclass
+class OpenAICommandsCfg:
+    """OpenAI goal command with its wider success tolerance."""
+
+    object_pose = reorient_goal_command(orientation_success_threshold=0.4, goal_pose_visualizer_cfg=GOAL_OBJECT_CFG)
+
+
 @configclass
 class OpenAIRewardsCfg:
-    """Direct-compatible OpenAI reward and success accounting."""
+    """OpenAI reward: wider tolerance, fall penalty, and noisy-EMA action source."""
 
-    reorient = RewTerm(
-        func=mdp.ReorientReward,
-        weight=1.0,
-        params={
-            "command_name": "object_pose",
-            "distance_scale": -10.0,
-            "rotation_scale": 1.0,
-            "rotation_epsilon": 0.1,
-            "action_penalty_scale": -0.0002,
-            "success_tolerance": 0.4,
-            "success_bonus": 250.0,
-            "fall_distance": 0.24,
-            "fall_penalty": -50.0,
-            "averaging_factor": 0.1,
-            "success_count_threshold": 1,
-            "action_name": "joint_pos",
-            "object_cfg": SceneEntityCfg("object"),
-        },
-    )
+    reorient = reorient_reward_term(success_tolerance=0.4, fall_penalty=-50.0, action_name="joint_pos")
 
 
 @configclass