Adds direct workflow Allegro hand environment (#709)

# Description
This change refactors the shadow hand environment into a general in-hand
manipulation environment and extends it with the Allegro hand.

## Type of change

- New feature (non-breaking change which adds functionality)

## 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

docs/source/features/environments.rst

@@ -77,7 +77,8 @@ for the reach environment:
     +----------------+---------------------------+-----------------------------------------------------------------------------+
     | |cabi-franka|  | |cabi-franka-link|        | Grasp the handle of a cabinet's drawer and open it with the Franka robot    |
     +----------------+---------------------------+-----------------------------------------------------------------------------+
-    | |cube-allegro| | |cube-allegro-link|       | In-hand reorientation of a cube using Allegro hand                          |
+    | |cube-allegro| | | |cube-allegro-link|     | In-hand reorientation of a cube using Allegro hand                          |
+    |                | | |allegro-direct-link|   |                                                                             |
     +----------------+---------------------------+-----------------------------------------------------------------------------+
     | |cube-shadow|  | | |cube-shadow-link|      | In-hand reorientation of a cube using Shadow hand                           |
     |                | | |cube-shadow-ff-link|   |                                                                             |
@@ -98,10 +99,11 @@ for the reach environment:
 .. |lift-cube-ik-rel-link| replace:: `Isaac-Lift-Cube-Franka-IK-Rel-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/ik_rel_env_cfg.py>`__
 .. |cabi-franka-link| replace:: `Isaac-Open-Drawer-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/config/franka/joint_pos_env_cfg.py>`__
 .. |cube-allegro-link| replace:: `Isaac-Repose-Cube-Allegro-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py>`__
+.. |allegro-direct-link| replace:: `Isaac-Repose-Cube-Allegro-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py>`__
 
-.. |cube-shadow-link| replace:: `Isaac-Shadow-Hand-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env.py>`__
-.. |cube-shadow-ff-link| replace:: `Isaac-Shadow-Hand-OpenAI-FF-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env.py>`__
-.. |cube-shadow-lstm-link| replace:: `Isaac-Shadow-Hand-OpenAI-LSTM-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env.py>`__
+.. |cube-shadow-link| replace:: `Isaac-Repose-Cube-Shadow-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
+.. |cube-shadow-ff-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
+.. |cube-shadow-lstm-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
 
 Locomotion
 ----------

source/extensions/omni.isaac.lab_tasks/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.8.1"
+version = "0.8.2"
 
 # Description
 title = "Isaac Lab Environments"

source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.8.2 (2024-08-02)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added ``Isaac-Repose-Cube-Allegro-Direct-v0`` environment
+
+Changed
+^^^^^^^
+
+* Renamed ``Isaac-Shadow-Hand-Direct-v0`` environments to ``Isaac-Repose-Cube-Shadow-Direct-v0``.
+* Renamed ``Isaac-Shadow-Hand-OpenAI-FF-Direct-v0`` environments to ``Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0``.
+* Renamed ``Isaac-Shadow-Hand-OpenAI-LSTM-Direct-v0`` environments to ``Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0``.
+
+
 0.8.1 (2024-08-02)
 ~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/__init__.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+Allegro Inhand Manipulation environment.
+"""
+
+import gymnasium as gym
+
+from . import agents
+from .allegro_hand_env_cfg import AllegroHandEnvCfg
+
+##
+# Register Gym environments.
+##
+
+gym.register(
+    id="Isaac-Repose-Cube-Allegro-Direct-v0",
+    entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": AllegroHandEnvCfg,
+        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
+        "rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.AllegroHandPPORunnerCfg,
+    },
+)

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/agents/__init__.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from . import rsl_rl_ppo_cfg

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/agents/rl_games_ppo_cfg.yaml

+params:
+  seed: 42
+
+  # environment wrapper clipping
+  env:
+    # added to the wrapper
+    clip_observations: 5.0
+    # can make custom wrapper?
+    clip_actions: 1.0
+
+  algo:
+    name: a2c_continuous
+
+  model:
+    name: continuous_a2c_logstd
+
+  # doesn't have this fine grained control but made it close
+  network:
+    name: actor_critic
+    separate: False
+    space:
+      continuous:
+        mu_activation: None
+        sigma_activation: None
+
+        mu_init:
+          name: default
+        sigma_init:
+          name: const_initializer
+          val: 0
+        fixed_sigma: True
+    mlp:
+      units: [512, 512, 256, 128]
+      activation: elu
+      d2rl: False
+
+      initializer:
+        name: default
+      regularizer:
+        name: None
+
+  load_checkpoint: False # flag which sets whether to load the checkpoint
+  load_path: '' # path to the checkpoint to load
+
+  config:
+    name: allegro_hand
+    env_name: rlgpu
+    device: 'cuda:0'
+    device_name: 'cuda:0'
+    multi_gpu: False
+    ppo: True
+    mixed_precision: False
+    normalize_input: True
+    normalize_value: True
+    value_bootstrap: True
+    num_actors: -1  # configured from the script (based on num_envs)
+    reward_shaper:
+      scale_value: 0.01
+    normalize_advantage: True
+    gamma: 0.99
+    tau : 0.95
+    learning_rate: 5e-4
+    lr_schedule: adaptive
+    schedule_type: standard
+    kl_threshold: 0.016
+    score_to_win: 100000
+    max_epochs: 5000
+    save_best_after: 100
+    save_frequency: 200
+    print_stats: True
+    grad_norm: 1.0
+    entropy_coef: 0.0
+    truncate_grads: True
+    e_clip: 0.2
+    horizon_length: 16
+    minibatch_size: 32768
+    mini_epochs: 5
+    critic_coef: 4
+    clip_value: True
+    seq_length: 4
+    bounds_loss_coef: 0.0001
+
+    player:
+      deterministic: True
+      games_num: 100000
+      print_stats: True

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/agents/rsl_rl_ppo_cfg.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from omni.isaac.lab.utils import configclass
+
+from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import (
+    RslRlOnPolicyRunnerCfg,
+    RslRlPpoActorCriticCfg,
+    RslRlPpoAlgorithmCfg,
+)
+
+
+@configclass
+class AllegroHandPPORunnerCfg(RslRlOnPolicyRunnerCfg):
+    num_steps_per_env = 16
+    max_iterations = 10000
+    save_interval = 250
+    experiment_name = "allegro_hand"
+    empirical_normalization = True
+    policy = RslRlPpoActorCriticCfg(
+        init_noise_std=1.0,
+        actor_hidden_dims=[512, 512, 256, 128],
+        critic_hidden_dims=[512, 512, 256, 128],
+        activation="elu",
+    )
+    algorithm = RslRlPpoAlgorithmCfg(
+        value_loss_coef=1.0,
+        use_clipped_value_loss=True,
+        clip_param=0.2,
+        entropy_coef=0.005,
+        num_learning_epochs=5,
+        num_mini_batches=4,
+        learning_rate=5.0e-4,
+        schedule="adaptive",
+        gamma=0.99,
+        lam=0.95,
+        desired_kl=0.016,
+        max_grad_norm=1.0,
+    )

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+
+from omni.isaac.lab_assets.allegro import ALLEGRO_HAND_CFG
+
+import omni.isaac.lab.sim as sim_utils
+from omni.isaac.lab.assets import ArticulationCfg, RigidObjectCfg
+from omni.isaac.lab.envs import DirectRLEnvCfg
+from omni.isaac.lab.markers import VisualizationMarkersCfg
+from omni.isaac.lab.scene import InteractiveSceneCfg
+from omni.isaac.lab.sim import PhysxCfg, SimulationCfg
+from omni.isaac.lab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg
+from omni.isaac.lab.utils import configclass
+from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR
+
+
+@configclass
+class AllegroHandEnvCfg(DirectRLEnvCfg):
+    # env
+    decimation = 4
+    episode_length_s = 10.0
+    num_actions = 16
+    num_observations = 124  # (full)
+    num_states = 0
+    asymmetric_obs = False
+    obs_type = "full"
+    # simulation
+    sim: SimulationCfg = SimulationCfg(
+        dt=1 / 120,
+        render_interval=decimation,
+        physics_material=RigidBodyMaterialCfg(
+            static_friction=1.0,
+            dynamic_friction=1.0,
+        ),
+        physx=PhysxCfg(
+            bounce_threshold_velocity=0.2,
+        ),
+    )
+    # robot
+    robot_cfg: ArticulationCfg = ALLEGRO_HAND_CFG.replace(prim_path="/World/envs/env_.*/Robot")
+
+    actuated_joint_names = [
+        "index_joint_0",
+        "middle_joint_0",
+        "ring_joint_0",
+        "thumb_joint_0",
+        "index_joint_1",
+        "index_joint_2",
+        "index_joint_3",
+        "middle_joint_1",
+        "middle_joint_2",
+        "middle_joint_3",
+        "ring_joint_1",
+        "ring_joint_2",
+        "ring_joint_3",
+        "thumb_joint_1",
+        "thumb_joint_2",
+        "thumb_joint_3",
+    ]
+    fingertip_body_names = [
+        "index_link_3",
+        "middle_link_3",
+        "ring_link_3",
+        "thumb_link_3",
+    ]
+
+    # in-hand object
+    object_cfg: RigidObjectCfg = RigidObjectCfg(
+        prim_path="/World/envs/env_.*/object",
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(
+                kinematic_enabled=False,
+                disable_gravity=False,
+                enable_gyroscopic_forces=True,
+                solver_position_iteration_count=8,
+                solver_velocity_iteration_count=0,
+                sleep_threshold=0.005,
+                stabilization_threshold=0.0025,
+                max_depenetration_velocity=1000.0,
+            ),
+            mass_props=sim_utils.MassPropertiesCfg(density=400.0),
+            scale=(1.2, 1.2, 1.2),
+        ),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, -0.17, 0.56), rot=(1.0, 0.0, 0.0, 0.0)),
+    )
+    # goal object
+    goal_object_cfg: VisualizationMarkersCfg = VisualizationMarkersCfg(
+        prim_path="/Visuals/goal_marker",
+        markers={
+            "goal": sim_utils.UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
+                scale=(1.2, 1.2, 1.2),
+            )
+        },
+    )
+    # scene
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=8192, env_spacing=0.75, replicate_physics=True)
+    # reset
+    reset_position_noise = 0.01  # range of position at reset
+    reset_dof_pos_noise = 0.2  # range of dof pos at reset
+    reset_dof_vel_noise = 0.0  # range of dof vel at reset
+    # reward scales
+    dist_reward_scale = -10.0
+    rot_reward_scale = 1.0
+    rot_eps = 0.1
+    action_penalty_scale = -0.0002
+    reach_goal_bonus = 250
+    fall_penalty = 0
+    fall_dist = 0.24
+    vel_obs_scale = 0.2
+    success_tolerance = 0.1
+    max_consecutive_success = 0
+    av_factor = 0.1
+    act_moving_average = 1.0
+    force_torque_obs_scale = 10.0

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/inhand_manipulation/__init__.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from .inhand_manipulation_env import InHandManipulationEnv

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env.py → source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/inhand_manipulation/inhand_manipulation_env.py

@@ -17,13 +17,14 @@ from omni.isaac.lab.markers import VisualizationMarkers
 from omni.isaac.lab.sim.spawners.from_files import GroundPlaneCfg, spawn_ground_plane
 from omni.isaac.lab.utils.math import quat_conjugate, quat_from_angle_axis, quat_mul, sample_uniform, saturate
 
-from .shadow_hand_env_cfg import ShadowHandEnvCfg
+from omni.isaac.lab_tasks.direct.allegro_hand import AllegroHandEnvCfg
+from omni.isaac.lab_tasks.direct.shadow_hand import ShadowHandEnvCfg
 
 
-class ShadowHandEnv(DirectRLEnv):
-    cfg: ShadowHandEnvCfg
+class InHandManipulationEnv(DirectRLEnv):
+    cfg: AllegroHandEnvCfg | ShadowHandEnvCfg
 
-    def __init__(self, cfg: ShadowHandEnvCfg, render_mode: str | None = None, **kwargs):
+    def __init__(self, cfg: AllegroHandEnvCfg | ShadowHandEnvCfg, render_mode: str | None = None, **kwargs):
         super().__init__(cfg, render_mode, **kwargs)
 
         self.num_hand_dofs = self.hand.num_joints
@@ -281,10 +282,10 @@ class ShadowHandEnv(DirectRLEnv):
         #   Relative target orientation
         obs = torch.cat(
             (
-                self.fingertip_pos.view(self.num_envs, self.num_fingertips * 3),  # 0:15
-                self.object_pos,  # 15:18
-                quat_mul(self.object_rot, quat_conjugate(self.goal_rot)),  # 18:22
-                self.actions,  # 22:42
+                self.fingertip_pos.view(self.num_envs, self.num_fingertips * 3),
+                self.object_pos,
+                quat_mul(self.object_rot, quat_conjugate(self.goal_rot)),
+                self.actions,
             ),
             dim=-1,
         )
@@ -295,23 +296,23 @@ class ShadowHandEnv(DirectRLEnv):
         obs = torch.cat(
             (
                 # hand
-                unscale(self.hand_dof_pos, self.hand_dof_lower_limits, self.hand_dof_upper_limits),  # 0:24
-                self.cfg.vel_obs_scale * self.hand_dof_vel,  # 24:48
+                unscale(self.hand_dof_pos, self.hand_dof_lower_limits, self.hand_dof_upper_limits),
+                self.cfg.vel_obs_scale * self.hand_dof_vel,
                 # object
-                self.object_pos,  # 48:51
-                self.object_rot,  # 51:55
-                self.object_linvel,  # 55:58
-                self.cfg.vel_obs_scale * self.object_angvel,  # 58:61
+                self.object_pos,
+                self.object_rot,
+                self.object_linvel,
+                self.cfg.vel_obs_scale * self.object_angvel,
                 # goal
-                self.in_hand_pos,  # 61:64
-                self.goal_rot,  # 64:68
-                quat_mul(self.object_rot, quat_conjugate(self.goal_rot)),  # 68:72
+                self.in_hand_pos,
+                self.goal_rot,
+                quat_mul(self.object_rot, quat_conjugate(self.goal_rot)),
                 # fingertips
-                self.fingertip_pos.view(self.num_envs, self.num_fingertips * 3),  # 72:87
-                self.fingertip_rot.view(self.num_envs, self.num_fingertips * 4),  # 87:107
-                self.fingertip_velocities.view(self.num_envs, self.num_fingertips * 6),  # 107:137
+                self.fingertip_pos.view(self.num_envs, self.num_fingertips * 3),
+                self.fingertip_rot.view(self.num_envs, self.num_fingertips * 4),
+                self.fingertip_velocities.view(self.num_envs, self.num_fingertips * 6),
                 # actions
-                self.actions,  # 137:157
+                self.actions,
             ),
             dim=-1,
         )
@@ -321,25 +322,25 @@ class ShadowHandEnv(DirectRLEnv):
         states = torch.cat(
             (
                 # hand
-                unscale(self.hand_dof_pos, self.hand_dof_lower_limits, self.hand_dof_upper_limits),  # 0:24
-                self.cfg.vel_obs_scale * self.hand_dof_vel,  # 24:48
+                unscale(self.hand_dof_pos, self.hand_dof_lower_limits, self.hand_dof_upper_limits),
+                self.cfg.vel_obs_scale * self.hand_dof_vel,
                 # object
-                self.object_pos,  # 48:51
-                self.object_rot,  # 51:55
-                self.object_linvel,  # 55:58
-                self.cfg.vel_obs_scale * self.object_angvel,  # 58:61
+                self.object_pos,
+                self.object_rot,
+                self.object_linvel,
+                self.cfg.vel_obs_scale * self.object_angvel,
                 # goal
-                self.in_hand_pos,  # 61:64
-                self.goal_rot,  # 64:68
-                quat_mul(self.object_rot, quat_conjugate(self.goal_rot)),  # 68:72
+                self.in_hand_pos,
+                self.goal_rot,
+                quat_mul(self.object_rot, quat_conjugate(self.goal_rot)),
                 # fingertips
-                self.fingertip_pos.view(self.num_envs, self.num_fingertips * 3),  # 72:87
-                self.fingertip_rot.view(self.num_envs, self.num_fingertips * 4),  # 87:107
-                self.fingertip_velocities.view(self.num_envs, self.num_fingertips * 6),  # 107:137
+                self.fingertip_pos.view(self.num_envs, self.num_fingertips * 3),
+                self.fingertip_rot.view(self.num_envs, self.num_fingertips * 4),
+                self.fingertip_velocities.view(self.num_envs, self.num_fingertips * 6),
                 self.cfg.force_torque_obs_scale
-                * self.fingertip_force_sensors.view(self.num_envs, self.num_fingertips * 6),  # 137:167
+                * self.fingertip_force_sensors.view(self.num_envs, self.num_fingertips * 6),
                 # actions
-                self.actions,  # 167:187
+                self.actions,
             ),
             dim=-1,
         )

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/__init__.py

@@ -4,13 +4,12 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 """
-Cartpole balancing environment.
+Shadow Hand environment.
 """
 
 import gymnasium as gym
 
 from . import agents
-from .shadow_hand_env import ShadowHandEnv
 from .shadow_hand_env_cfg import ShadowHandEnvCfg, ShadowHandOpenAIEnvCfg
 
 ##
@@ -18,8 +17,8 @@ from .shadow_hand_env_cfg import ShadowHandEnvCfg, ShadowHandOpenAIEnvCfg
 ##
 
 gym.register(
-    id="Isaac-Shadow-Hand-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.shadow_hand:ShadowHandEnv",
+    id="Isaac-Repose-Cube-Shadow-Direct-v0",
+    entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": ShadowHandEnvCfg,
@@ -29,8 +28,8 @@ gym.register(
 )
 
 gym.register(
-    id="Isaac-Shadow-Hand-OpenAI-FF-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.shadow_hand:ShadowHandEnv",
+    id="Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0",
+    entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": ShadowHandOpenAIEnvCfg,
@@ -40,8 +39,8 @@ gym.register(
 )
 
 gym.register(
-    id="Isaac-Shadow-Hand-OpenAI-LSTM-Direct-v0",
-    entry_point="omni.isaac.lab_tasks.direct.shadow_hand:ShadowHandEnv",
+    id="Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0",
+    entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": ShadowHandOpenAIEnvCfg,