[pull] main from isaac-sim:main

docs/source/_static/policy_deployment/01_io_descriptors/isaac_velocity_flat_anymal_d_v0_IO_descriptors.yaml

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+# 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
+
+actions:
+- action_type: JointAction
+  clip: null
+  dtype: torch.float32
+  extras:
+    description: Joint action term that applies the processed actions to the articulation's
+      joints as position commands.
+  full_path: isaaclab.envs.mdp.actions.joint_actions.JointPositionAction
+  joint_names:
+  - LF_HAA
+  - LH_HAA
+  - RF_HAA
+  - RH_HAA
+  - LF_HFE
+  - LH_HFE
+  - RF_HFE
+  - RH_HFE
+  - LF_KFE
+  - LH_KFE
+  - RF_KFE
+  - RH_KFE
+  mdp_type: Action
+  name: joint_position_action
+  offset:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.4000000059604645
+  - -0.4000000059604645
+  - 0.4000000059604645
+  - -0.4000000059604645
+  - -0.800000011920929
+  - 0.800000011920929
+  - -0.800000011920929
+  - 0.800000011920929
+  scale: 0.5
+  shape:
+  - 12
+articulations:
+  robot:
+    default_joint_armature:
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    default_joint_damping:
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    default_joint_friction:
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    default_joint_pos:
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.4000000059604645
+    - -0.4000000059604645
+    - 0.4000000059604645
+    - -0.4000000059604645
+    - -0.800000011920929
+    - 0.800000011920929
+    - -0.800000011920929
+    - 0.800000011920929
+    default_joint_pos_limits:
+    - - -0.7853984236717224
+      - 0.6108654141426086
+    - - -0.7853984236717224
+      - 0.6108654141426086
+    - - -0.6108654141426086
+      - 0.7853984236717224
+    - - -0.6108654141426086
+      - 0.7853984236717224
+    - - -9.42477798461914
+      - 9.42477798461914
+    - - -9.42477798461914
+      - 9.42477798461914
+    - - -9.42477798461914
+      - 9.42477798461914
+    - - -9.42477798461914
+      - 9.42477798461914
+    - - -9.42477798461914
+      - 9.42477798461914
+    - - -9.42477798461914
+      - 9.42477798461914
+    - - -9.42477798461914
+      - 9.42477798461914
+    - - -9.42477798461914
+      - 9.42477798461914
+    default_joint_stiffness:
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    default_joint_vel:
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    joint_names:
+    - LF_HAA
+    - LH_HAA
+    - RF_HAA
+    - RH_HAA
+    - LF_HFE
+    - LH_HFE
+    - RF_HFE
+    - RH_HFE
+    - LF_KFE
+    - LH_KFE
+    - RF_KFE
+    - RH_KFE
+observations:
+  policy:
+  - dtype: torch.float32
+    extras:
+      axes:
+      - X
+      - Y
+      - Z
+      description: Root linear velocity in the asset's root frame.
+      modifiers: null
+      units: m/s
+    full_path: isaaclab.envs.mdp.observations.base_lin_vel
+    mdp_type: Observation
+    name: base_lin_vel
+    observation_type: RootState
+    overloads:
+      clip: null
+      flatten_history_dim: true
+      history_length: 0
+      scale: null
+    shape:
+    - 3
+  - dtype: torch.float32
+    extras:
+      axes:
+      - X
+      - Y
+      - Z
+      description: Root angular velocity in the asset's root frame.
+      modifiers: null
+      units: rad/s
+    full_path: isaaclab.envs.mdp.observations.base_ang_vel
+    mdp_type: Observation
+    name: base_ang_vel
+    observation_type: RootState
+    overloads:
+      clip: null
+      flatten_history_dim: true
+      history_length: 0
+      scale: null
+    shape:
+    - 3
+  - dtype: torch.float32
+    extras:
+      axes:
+      - X
+      - Y
+      - Z
+      description: Gravity projection on the asset's root frame.
+      modifiers: null
+      units: m/s^2
+    full_path: isaaclab.envs.mdp.observations.projected_gravity
+    mdp_type: Observation
+    name: projected_gravity
+    observation_type: RootState
+    overloads:
+      clip: null
+      flatten_history_dim: true
+      history_length: 0
+      scale: null
+    shape:
+    - 3
+  - dtype: torch.float32
+    extras:
+      description: The generated command from command term in the command manager
+        with the given name.
+      modifiers: null
+    full_path: isaaclab.envs.mdp.observations.generated_commands
+    mdp_type: Observation
+    name: generated_commands
+    observation_type: Command
+    overloads:
+      clip: null
+      flatten_history_dim: true
+      history_length: 0
+      scale: null
+    shape:
+    - 3
+  - dtype: torch.float32
+    extras:
+      description: 'The joint positions of the asset w.r.t. the default joint positions.
+        Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have
+        their positions returned.'
+      modifiers: null
+      units: rad
+    full_path: isaaclab.envs.mdp.observations.joint_pos_rel
+    joint_names:
+    - LF_HAA
+    - LH_HAA
+    - RF_HAA
+    - RH_HAA
+    - LF_HFE
+    - LH_HFE
+    - RF_HFE
+    - RH_HFE
+    - LF_KFE
+    - LH_KFE
+    - RF_KFE
+    - RH_KFE
+    joint_pos_offsets:
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.4000000059604645
+    - -0.4000000059604645
+    - 0.4000000059604645
+    - -0.4000000059604645
+    - -0.800000011920929
+    - 0.800000011920929
+    - -0.800000011920929
+    - 0.800000011920929
+    mdp_type: Observation
+    name: joint_pos_rel
+    observation_type: JointState
+    overloads:
+      clip: null
+      flatten_history_dim: true
+      history_length: 0
+      scale: null
+    shape:
+    - 12
+  - dtype: torch.float32
+    extras:
+      description: 'The joint velocities of the asset w.r.t. the default joint velocities.
+        Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have
+        their velocities returned.'
+      modifiers: null
+      units: rad/s
+    full_path: isaaclab.envs.mdp.observations.joint_vel_rel
+    joint_names:
+    - LF_HAA
+    - LH_HAA
+    - RF_HAA
+    - RH_HAA
+    - LF_HFE
+    - LH_HFE
+    - RF_HFE
+    - RH_HFE
+    - LF_KFE
+    - LH_KFE
+    - RF_KFE
+    - RH_KFE
+    joint_vel_offsets:
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.0
+    mdp_type: Observation
+    name: joint_vel_rel
+    observation_type: JointState
+    overloads:
+      clip: null
+      flatten_history_dim: true
+      history_length: 0
+      scale: null
+    shape:
+    - 12
+  - dtype: torch.float32
+    extras:
+      description: The last input action to the environment. The name of the action
+        term for which the action is required. If None, the entire action tensor is
+        returned.
+      modifiers: null
+    full_path: isaaclab.envs.mdp.observations.last_action
+    mdp_type: Observation
+    name: last_action
+    observation_type: Action
+    overloads:
+      clip: null
+      flatten_history_dim: true
+      history_length: 0
+      scale: null
+    shape:
+    - 12
+scene:
+  decimation: 4
+  dt: 0.02
+  physics_dt: 0.005