Adds dexterous lift and reorientation manipulation environments (#3378)

# Description

This PR provides remake and extension to orginal environment
kuka-allegro-reorientation implemented in paper:
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with
Population Based Training
(https://arxiv.org/abs/2305.12127)
[Aleksei
Petrenko](https://arxiv.org/search/cs?searchtype=author&query=Petrenko,+A),
[Arthur
Allshire](https://arxiv.org/search/cs?searchtype=author&query=Allshire,+A),
[Gavriel
State](https://arxiv.org/search/cs?searchtype=author&query=State,+G),
[Ankur
Handa](https://arxiv.org/search/cs?searchtype=author&query=Handa,+A),
[Viktor
Makoviychuk](https://arxiv.org/search/cs?searchtype=author&query=Makoviychuk,+V)

and another environment kuka-allegro-lift implemented in paper:
Visuomotor Policies to Grasp Anything with Dexterous Hands
(https://dextrah-rgb.github.io/)
[Ritvik Singh](https://www.ritvik-singh.com/), [Arthur
Allshire](https://allshire.org/), [Ankur
Handa](https://ankurhanda.github.io/), [Nathan
Ratliff](https://www.nathanratliff.com/), [Karl Van
Wyk](https://scholar.google.com/citations?user=TCYAoF8AAAAJ&hl=en)


Though this is a remake, this remake ends up differs quite a lot in
environment details for reasons like:
1. Simplify reward structure,
2. Unify environment implemtation,
3. Standarize mdp,
4. Utilizes manager-based API

That in my opinion, makes environment study and extension more
accessible, and analyzable. For example you can train lift policy first
then continuing the checkpoint in reorientation environment, since they
share the observation space. : ))

It is a best to consider this a very careful re-interpretation rather
than exact execution to migrate them to IsaacLab

Here is the training curve if you just train with
`./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task
Isaac-Dexsuite-Kuka-Allegro-Lift-v0 --num_envs 8192 --headless`

`./isaaclab.sh -p -m torch.distributed.run --nnodes=1 --nproc_per_node=4
scripts/reinforcement_learning/rsl_rl/train.py --task
Isaac-Dexsuite-Kuka-Allegro-Reorient-v0 --num_envs 40960 --headless
--distributed`

lift training ~ 4 hours
reorientation training ~ 2 days

Note that it requires a order of magnitude more data and time for
reorientation to converge compare to lift under almost identical setup

training curve(screen captured from Wandb) - reward, 
Cyan: reorient, Purple: Lift
<img width="1487" height="780" alt="Screenshot from 2025-09-07 22-58-13"
src="https://github.com/user-attachments/assets/bfa911de-4fee-4c0d-b39c-e9c33fae28f4"
/>


video results 
lift

![cone_lift](https://github.com/user-attachments/assets/e626eadb-b281-4ec9-af16-57f626fcc6aa)

![fat_capsule_lift](https://github.com/user-attachments/assets/cde57d4c-ceb2-40ab-88dd-44320da689c5)

reorient

![cube_reorient](https://github.com/user-attachments/assets/752809cb-ea19-4701-b124-20c1909e4566)

![rod_reorient](https://github.com/user-attachments/assets/f009605a-d93c-491c-b124-ff08606c63ec)


Memo:
I really enjoy working on this remake, and hopefully for whoever plan to
play and extend on this remake find it helpful and similarily joyful as
I did. I will be very excited to see what you got : ))

Octi


CAUTION:
Do Not Merge until the asset is uploaded to S3 bucket!

Fixes # (issue)
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- New feature (non-breaking change which adds functionality)

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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Author: ooctipus

docs/source/_static/tasks/manipulation/kuka_allegro_lift.jpg

@@ -18,6 +18,7 @@
 from .humanoid import *
 from .humanoid_28 import *
 from .kinova import *
+from .kuka_allegro import *
 from .pick_and_place import *
 from .quadcopter import *
 from .ridgeback_franka import *

docs/source/_static/tasks/manipulation/kuka_allegro_reorient.jpg

@@ -0,0 +1,114 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configuration for the Kuka-lbr-iiwa arm robots and Allegro Hand.
+
+The following configurations are available:
+
+* :obj:`KUKA_ALLEGRO_CFG`: Kuka Allegro with implicit actuator model.
+
+Reference:
+
+* https://www.kuka.com/en-us/products/robotics-systems/industrial-robots/lbr-iiwa
+* https://www.wonikrobotics.com/robot-hand
+
+"""
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators.actuator_cfg import ImplicitActuatorCfg
+from isaaclab.assets.articulation import ArticulationCfg
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+
+##
+# Configuration
+##
+
+KUKA_ALLEGRO_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/KukaAllegro/kuka.usd",
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=True,
+            retain_accelerations=True,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1000.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=True,
+            solver_position_iteration_count=32,
+            solver_velocity_iteration_count=1,
+            sleep_threshold=0.005,
+            stabilization_threshold=0.0005,
+        ),
+        joint_drive_props=sim_utils.JointDrivePropertiesCfg(drive_type="force"),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 0.0),
+        rot=(1.0, 0.0, 0.0, 0.0),
+        joint_pos={
+            "iiwa7_joint_(1|2|7)": 0.0,
+            "iiwa7_joint_3": 0.7854,
+            "iiwa7_joint_4": 1.5708,
+            "iiwa7_joint_(5|6)": -1.5708,
+            "(index|middle|ring)_joint_0": 0.0,
+            "(index|middle|ring)_joint_1": 0.3,
+            "(index|middle|ring)_joint_2": 0.3,
+            "(index|middle|ring)_joint_3": 0.3,
+            "thumb_joint_0": 1.5,
+            "thumb_joint_1": 0.60147215,
+            "thumb_joint_2": 0.33795027,
+            "thumb_joint_3": 0.60845138,
+        },
+    ),
+    actuators={
+        "kuka_allegro_actuators": ImplicitActuatorCfg(
+            joint_names_expr=[
+                "iiwa7_joint_(1|2|3|4|5|6|7)",
+                "index_joint_(0|1|2|3)",
+                "middle_joint_(0|1|2|3)",
+                "ring_joint_(0|1|2|3)",
+                "thumb_joint_(0|1|2|3)",
+            ],
+            effort_limit_sim={
+                "iiwa7_joint_(1|2|3|4|5|6|7)": 300.0,
+                "index_joint_(0|1|2|3)": 0.5,
+                "middle_joint_(0|1|2|3)": 0.5,
+                "ring_joint_(0|1|2|3)": 0.5,
+                "thumb_joint_(0|1|2|3)": 0.5,
+            },
+            stiffness={
+                "iiwa7_joint_(1|2|3|4)": 300.0,
+                "iiwa7_joint_5": 100.0,
+                "iiwa7_joint_6": 50.0,
+                "iiwa7_joint_7": 25.0,
+                "index_joint_(0|1|2|3)": 3.0,
+                "middle_joint_(0|1|2|3)": 3.0,
+                "ring_joint_(0|1|2|3)": 3.0,
+                "thumb_joint_(0|1|2|3)": 3.0,
+            },
+            damping={
+                "iiwa7_joint_(1|2|3|4)": 45.0,
+                "iiwa7_joint_5": 20.0,
+                "iiwa7_joint_6": 15.0,
+                "iiwa7_joint_7": 15.0,
+                "index_joint_(0|1|2|3)": 0.1,
+                "middle_joint_(0|1|2|3)": 0.1,
+                "ring_joint_(0|1|2|3)": 0.1,
+                "thumb_joint_(0|1|2|3)": 0.1,
+            },
+            friction={
+                "iiwa7_joint_(1|2|3|4|5|6|7)": 1.0,
+                "index_joint_(0|1|2|3)": 0.01,
+                "middle_joint_(0|1|2|3)": 0.01,
+                "ring_joint_(0|1|2|3)": 0.01,
+                "thumb_joint_(0|1|2|3)": 0.01,
+            },
+        ),
+    },
+    soft_joint_pos_limit_factor=1.0,
+)

docs/source/overview/environments.rst

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.51"
+version = "0.11.0"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_assets/isaaclab_assets/robots/__init__.py

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.11.0 (2025-09-07)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added dextrous lifting and dextrous reorientation manipulation rl environments.
+
+
 0.10.51 (2025-09-08)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_assets/isaaclab_assets/robots/kuka_allegro.py

@@ -0,0 +1,26 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Dexsuite environments.
+
+Implementation Reference:
+
+Reorient:
+@article{petrenko2023dexpbt,
+  title={Dexpbt: Scaling up dexterous manipulation for hand-arm systems with population based training},
+  author={Petrenko, Aleksei and Allshire, Arthur and State, Gavriel and Handa, Ankur and Makoviychuk, Viktor},
+  journal={arXiv preprint arXiv:2305.12127},
+  year={2023}
+}
+
+Lift:
+@article{singh2024dextrah,
+  title={Dextrah-rgb: Visuomotor policies to grasp anything with dexterous hands},
+  author={Singh, Ritvik and Allshire, Arthur and Handa, Ankur and Ratliff, Nathan and Van Wyk, Karl},
+  journal={arXiv preprint arXiv:2412.01791},
+  year={2024}
+}
+
+"""

source/isaaclab_tasks/config/extension.toml

@@ -0,0 +1,122 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from isaaclab.managers import CurriculumTermCfg as CurrTerm
+from isaaclab.utils import configclass
+
+from . import mdp
+
+
+@configclass
+class CurriculumCfg:
+    """Curriculum terms for the MDP."""
+
+    # adr stands for automatic/adaptive domain randomization
+    adr = CurrTerm(
+        func=mdp.DifficultyScheduler, params={"init_difficulty": 0, "min_difficulty": 0, "max_difficulty": 10}
+    )
+
+    joint_pos_unoise_min_adr = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "observations.proprio.joint_pos.noise.n_min",
+            "modify_fn": mdp.initial_final_interpolate_fn,
+            "modify_params": {"initial_value": 0.0, "final_value": -0.1, "difficulty_term_str": "adr"},
+        },
+    )
+
+    joint_pos_unoise_max_adr = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "observations.proprio.joint_pos.noise.n_max",
+            "modify_fn": mdp.initial_final_interpolate_fn,
+            "modify_params": {"initial_value": 0.0, "final_value": 0.1, "difficulty_term_str": "adr"},
+        },
+    )
+
+    joint_vel_unoise_min_adr = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "observations.proprio.joint_vel.noise.n_min",
+            "modify_fn": mdp.initial_final_interpolate_fn,
+            "modify_params": {"initial_value": 0.0, "final_value": -0.2, "difficulty_term_str": "adr"},
+        },
+    )
+
+    joint_vel_unoise_max_adr = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "observations.proprio.joint_vel.noise.n_max",
+            "modify_fn": mdp.initial_final_interpolate_fn,
+            "modify_params": {"initial_value": 0.0, "final_value": 0.2, "difficulty_term_str": "adr"},
+        },
+    )
+
+    hand_tips_pos_unoise_min_adr = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "observations.proprio.hand_tips_state_b.noise.n_min",
+            "modify_fn": mdp.initial_final_interpolate_fn,
+            "modify_params": {"initial_value": 0.0, "final_value": -0.01, "difficulty_term_str": "adr"},
+        },
+    )
+
+    hand_tips_pos_unoise_max_adr = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "observations.proprio.hand_tips_state_b.noise.n_max",
+            "modify_fn": mdp.initial_final_interpolate_fn,
+            "modify_params": {"initial_value": 0.0, "final_value": 0.01, "difficulty_term_str": "adr"},
+        },
+    )
+
+    object_quat_unoise_min_adr = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "observations.policy.object_quat_b.noise.n_min",
+            "modify_fn": mdp.initial_final_interpolate_fn,
+            "modify_params": {"initial_value": 0.0, "final_value": -0.03, "difficulty_term_str": "adr"},
+        },
+    )
+
+    object_quat_unoise_max_adr = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "observations.policy.object_quat_b.noise.n_max",
+            "modify_fn": mdp.initial_final_interpolate_fn,
+            "modify_params": {"initial_value": 0.0, "final_value": 0.03, "difficulty_term_str": "adr"},
+        },
+    )
+
+    object_obs_unoise_min_adr = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "observations.perception.object_point_cloud.noise.n_min",
+            "modify_fn": mdp.initial_final_interpolate_fn,
+            "modify_params": {"initial_value": 0.0, "final_value": -0.01, "difficulty_term_str": "adr"},
+        },
+    )
+
+    object_obs_unoise_max_adr = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "observations.perception.object_point_cloud.noise.n_max",
+            "modify_fn": mdp.initial_final_interpolate_fn,
+            "modify_params": {"initial_value": 0.0, "final_value": -0.01, "difficulty_term_str": "adr"},
+        },
+    )
+
+    gravity_adr = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "events.variable_gravity.params.gravity_distribution_params",
+            "modify_fn": mdp.initial_final_interpolate_fn,
+            "modify_params": {
+                "initial_value": ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0)),
+                "final_value": ((0.0, 0.0, -9.81), (0.0, 0.0, -9.81)),
+                "difficulty_term_str": "adr",
+            },
+        },
+    )

source/isaaclab_tasks/docs/CHANGELOG.rst

@@ -0,0 +1,9 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configurations for the dexsuite environments."""
+
+# We leave this file empty since we don't want to expose any configs in this package directly.
+# We still need this file to import the "config" module in the parent package.