[Task Clean-up][OVPhysX] Dexterous Part 7/11: Add OVPhysX presets to the dexterous tasks

[hujc7]

Summary

• Adds OVPhysX physics presets to the Shadow Hand reorientation and handover environments (spawned without fixed-tendon overrides, which the OVPhysX runtime does not expose).
• Fixes the Shadow Hand task frame on OVPhysX.
• Ships preset-resolution acceptance tests for the Direct variants; the family-wide version covering the manager counterparts completes in Part 11.
• Validated by full training runs on the OVPhysX backend; split out of the lumped validation branch [DO-NOT-MERGE][Task Clean-up] Dexterous: lumped validation branch (series reference) #6324 (Part 7 of 11).

Dependencies

• Code: [Task Clean-up] Dexterous Part 3/8: Add success-rate metrics to the reorientation Direct tasks #6413 (Part 3 — the shared fingertip constants consumed by the Shadow cfg) and [Task Clean-up] Dexterous Part 4/8: Fix MARL-to-single-agent training and enable handover Direct RSL-RL #6414 (Part 4 — the handover cfg carries its Newton fixes).
• Runtime: [Task Clean-up][OVPhysX] Dexterous Part 2/8: Fix articulation and manager runtime #6412 (Part 2 — OVPhysX runtime fixes) for the presets to actually run.
• Textual overlap with [Task Clean-up] Dexterous Part 4/8: Fix MARL-to-single-agent training and enable handover Direct RSL-RL #6414 (Part 4) on handover_env_cfg.py: this PR carries the identical distal-joint hunks, so either merge order is clean.

Review updates (2026-07-09)

• The Shadow/OpenAI Direct cfgs default their scalar fields from the per-variant task constants and promote shared scene/noise cfg objects to module scope, so the manager counterparts consume one source without instantiating a throwaway Direct cfg. The handover cfg carries the same treatment.

Review updates (2026-07-11)

• Synced with lump head d3cddae: the handover env cfg reads SIM_DT and VEL_OBS_SCALE from the shared constants module. The cfg-content test files (Shadow cfg, OVPhysX preset acceptance) are dropped per the tests-assert-behavior trim; the consolidated kernel behavior suite ships with Part 11 ([Task Clean-up][Manager] Dexterous Part 6/8: Add the handover and camera manager counterparts #6421).

Series review map

Full integrated diff + training/validation evidence: the lumped validation PR #6324 (DO-NOT-MERGE).

Part	PR
Docs: regenerate the environment overview table	#6410
Part 1/11: Newton runtime fixes (cloner rows, cubric fallback, viz teardown)	#6411
Part 2/11: OVPhysX runtime fixes	#6412
Part 3/11: success-rate metrics for the Direct reorientation tasks	#6413
Part 4/11: RSL-RL training for the handover Direct task	#6414
Part 5/11: success-rate support in the benchmark utilities	#6415
Part 6/11: renderer presets for the Direct camera task	#6416
Part 7/11: OVPhysX presets for the dexterous tasks (this PR)	#6417
Part 8/11: Allegro manager counterpart	#6418
Part 9/11: Shadow + OpenAI manager counterparts	#6419
Part 10/11: Shadow camera manager counterpart	#6420
Part 11/11: Shadow handover manager counterpart	#6421

Builds on: #6412. This PR's own commits relative to each parent branch:

• vs part 6412: hujc7/IsaacLab@jichuanh/task-cleanup-dex-part02...jichuanh/task-cleanup-dex-part07

[greptile-apps]

Greptile Summary

This PR adds OVPhysX physics presets to the Shadow Hand reorientation and handover environments, and fixes the Shadow Hand task frame on OVPhysX by clearing fixed_tendons_props=None (since the OVPhysX runtime does not expose the fixed-tendon API). It also renames the distal-joint regex from J0 → J1 to match a new asset release, and ships acceptance tests for the Direct variants.

• OVPhysX robot config is added to ShadowHandRobotCfg and _shadow_hand_cfg, spawning the same legacy PhysX USD but with fixed_tendons_props=None and the identity rotation; the corresponding OvPhysxCfg() is added to both PhysicsCfg classes.
• Joint rename (robot0_(FF|MF|RF|LF)J0 → J1) corrects the Newton distal_passive actuator override to align with the current asset; docstrings are updated accordingly, though one module-level comment was missed.
• Three new test files verify OVPhysX preset resolution across 15 env variants, pose consistency across backends, and the joint-name contract.

Confidence Score: 4/5

Safe to merge; the changes are additive config-only additions with no runtime logic changes, and training runs on the OVPhysX backend have been validated.

The only issue found is a single stale module-level comment in handover_env_cfg.py that still says J0 after the joint was renamed to J1 in both the code and the docstring. All OVPhysX preset additions are consistent: fixed_tendons_props is correctly cleared, rotations match the PhysX baseline, and joint_pos is preserved via SHADOW_HAND_CFG.init_state.replace(...) which carries {".*": 0.0}. The three new test files provide solid coverage across 15 env variants.

handover_env_cfg.py has the one stale comment; all other files are clean.

Important Files Changed

Filename	Overview
source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_env_cfg.py	Adds OVPhysX robot and physics presets; renames distal-joint regex J0→J1 in Newton config. One module-level comment at line 131 still references J0 after the rename.
source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_env_cfg.py	Adds OVPhysX robot preset (fixed_tendons_props=None, identity rotation) and OvPhysxCfg to PhysicsCfg. Clean and consistent with the PhysX preset.
source/isaaclab_tasks/test/core/test_dexterous_ovphysx_presets.py	New acceptance tests for OVPhysX preset resolution across 15 env variants, Newton scene/physics preset checks for Allegro and Handover, and play-env count check. Coverage is thorough for the Direct variants in scope.
source/isaaclab_tasks/test/core/test_handover_env_cfg.py	New unit tests verifying asset USD paths match single-agent config, init-pose consistency across backends, normalized rotations, and Newton distal-joint override presence/value.
source/isaaclab_tasks/test/core/test_shadow_hand_env_cfg.py	New unit tests covering event randomization, backend-specific asset paths, fixed_tendons_props nullification for OVPhysX, init rotation values, and the 20-action joint contract.
source/isaaclab_tasks/changelog.d/task-cleanup-dex-part07.minor.rst	Changelog entry for added OVPhysX presets and the task-frame fix. Accurate and complete.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[resolve_presets called with preset key] --> B{preset key}
    B -- physx --> C[PhysxCfg\nSHADOW_HAND_CFG\nfixed_tendons_props set]
    B -- newton_mjwarp --> D[NewtonCfg\nShadowHandNewton USD\nJ1 distal_passive override]
    B -- ovphysx --> E[OvPhysxCfg\nSHADOW_HAND_CFG\nfixed_tendons_props = None]
    B -- default --> C
    C --> F[ShadowHandRobotCfg.physx\nrot=0,0,0,1]
    D --> G[ShadowHandRobotCfg.newton_mjwarp\nrot=-0.707,0.707\nJ1 passive actuator]
    E --> H[ShadowHandRobotCfg.ovphysx\nrot=0,0,0,1\nno tendon overrides]
    style E fill:#d4edda,stroke:#28a745
    style H fill:#d4edda,stroke:#28a745

Loading

%%{init: {'theme': 'base', 'themeVariables': {"darkMode": true, "background": "#0d1117", "primaryColor": "#21262d", "primaryTextColor": "#e6edf3", "primaryBorderColor": "#8b949e", "lineColor": "#8b949e", "textColor": "#e6edf3", "edgeLabelBackground": "#161b22", "actorBkg": "#21262d", "actorBorder": "#8b949e", "actorTextColor": "#e6edf3", "actorLineColor": "#8b949e", "signalColor": "#8b949e", "signalTextColor": "#e6edf3", "noteBkgColor": "#373320", "noteBorderColor": "#d4a72c", "noteTextColor": "#f0e6c0", "labelBoxBkgColor": "#21262d", "labelBoxBorderColor": "#8b949e", "labelTextColor": "#e6edf3", "loopTextColor": "#e6edf3", "activationBkgColor": "#30363d", "activationBorderColor": "#8b949e"}}}%%
flowchart TD
    A[resolve_presets called with preset key] --> B{preset key}
    B -- physx --> C[PhysxCfg\nSHADOW_HAND_CFG\nfixed_tendons_props set]
    B -- newton_mjwarp --> D[NewtonCfg\nShadowHandNewton USD\nJ1 distal_passive override]
    B -- ovphysx --> E[OvPhysxCfg\nSHADOW_HAND_CFG\nfixed_tendons_props = None]
    B -- default --> C
    C --> F[ShadowHandRobotCfg.physx\nrot=0,0,0,1]
    D --> G[ShadowHandRobotCfg.newton_mjwarp\nrot=-0.707,0.707\nJ1 passive actuator]
    E --> H[ShadowHandRobotCfg.ovphysx\nrot=0,0,0,1\nno tendon overrides]
    style E fill:#d4edda,stroke:#28a745
    style H fill:#d4edda,stroke:#28a745

Loading

Comments Outside Diff (1)

1. source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_env_cfg.py, line 131 (link)

   The module-level comment still references J0 after the joint was renamed to J1 in the code below it. This makes the comment misleading for anyone tracing why stiffness=10 is applied to those joints.

   Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

_{Reviews (1): Last reviewed commit: "Add OVPhysX presets to the dexterous tas..." | Re-trigger Greptile}

[hujc7]

Closing as part of the series restructure: the OVPhysX runtime fixes merged via #6412 (Part 2/8), and the remaining preset wiring is carried by the restacked parts. The full series layout is tracked in the Review Map at the top of #6324.