Adds dexterous lift and reorientation manipulation environments

source/isaaclab_assets/isaaclab_assets/robots/__init__.py

@@ -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 *

source/isaaclab_assets/isaaclab_assets/robots/kuka_allegro.py

@@ -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,
+)

source/isaaclab_tasks/config/extension.toml

@@ -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_tasks/docs/CHANGELOG.rst

@@ -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_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/__init__.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/isaaclab_tasks/manager_based/manipulation/dexsuite/adr_curriculum.py

@@ -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/isaaclab_tasks/manager_based/manipulation/dexsuite/config/__init__.py

@@ -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.

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/__init__.py

@@ -0,0 +1,63 @@
+# 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
+
+"""
+Dextra Kuka Allegro environments.
+"""
+
+import gymnasium as gym
+
+from . import agents
+
+##
+# Register Gym environments.
+##
+
+# State Observation
+gym.register(
+    id="Isaac-Dexsuite-Kuka-Allegro-Reorient-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.dexsuite_kuka_allegro_env_cfg:DexsuiteKukaAllegroReorientEnvCfg",
+        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DexsuiteKukaAllegroPPORunnerCfg",
+    },
+)
+
+gym.register(
+    id="Isaac-Dexsuite-Kuka-Allegro-Reorient-Play-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.dexsuite_kuka_allegro_env_cfg:DexsuiteKukaAllegroReorientEnvCfg_PLAY",
+        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DexsuiteKukaAllegroPPORunnerCfg",
+    },
+)
+
+# Dexsuite Lift Environments
+gym.register(
+    id="Isaac-Dexsuite-Kuka-Allegro-Lift-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.dexsuite_kuka_allegro_env_cfg:DexsuiteKukaAllegroLiftEnvCfg",
+        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DexsuiteKukaAllegroPPORunnerCfg",
+    },
+)
+
+
+gym.register(
+    id="Isaac-Dexsuite-Kuka-Allegro-Lift-Play-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.dexsuite_kuka_allegro_env_cfg:DexsuiteKukaAllegroLiftEnvCfg_PLAY",
+        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DexsuiteKukaAllegroPPORunnerCfg",
+    },
+)

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/agents/__init__.py

@@ -0,0 +1,4 @@
+# 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