# 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:
  - left_hip_pitch_joint
  - right_hip_pitch_joint
  - torso_joint
  - left_hip_roll_joint
  - right_hip_roll_joint
  - left_shoulder_pitch_joint
  - right_shoulder_pitch_joint
  - left_hip_yaw_joint
  - right_hip_yaw_joint
  - left_shoulder_roll_joint
  - right_shoulder_roll_joint
  - left_knee_joint
  - right_knee_joint
  - left_shoulder_yaw_joint
  - right_shoulder_yaw_joint
  - left_ankle_pitch_joint
  - right_ankle_pitch_joint
  - left_elbow_pitch_joint
  - right_elbow_pitch_joint
  - left_ankle_roll_joint
  - right_ankle_roll_joint
  - left_elbow_roll_joint
  - right_elbow_roll_joint
  - left_five_joint
  - left_three_joint
  - left_zero_joint
  - right_five_joint
  - right_three_joint
  - right_zero_joint
  - left_six_joint
  - left_four_joint
  - left_one_joint
  - right_six_joint
  - right_four_joint
  - right_one_joint
  - left_two_joint
  - right_two_joint
  mdp_type: Action
  name: joint_position_action
  offset:
  - -0.20000000298023224
  - -0.20000000298023224
  - 0.0
  - 0.0
  - 0.0
  - 0.3499999940395355
  - 0.3499999940395355
  - 0.0
  - 0.0
  - 0.1599999964237213
  - -0.1599999964237213
  - 0.41999998688697815
  - 0.41999998688697815
  - 0.0
  - 0.0
  - -0.23000000417232513
  - -0.23000000417232513
  - 0.8700000047683716
  - 0.8700000047683716
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1.0
  - 0.0
  - 0.0
  - -1.0
  - 0.5199999809265137
  - -0.5199999809265137
  scale: 0.5
  shape:
  - 37
articulations:
  robot:
    default_joint_armature:
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.009999999776482582
    - 0.0010000000474974513
    - 0.0010000000474974513
    - 0.0010000000474974513
    - 0.0010000000474974513
    - 0.0010000000474974513
    - 0.0010000000474974513
    - 0.0010000000474974513
    - 0.0010000000474974513
    - 0.0010000000474974513
    - 0.0010000000474974513
    - 0.0010000000474974513
    - 0.0010000000474974513
    - 0.0010000000474974513
    - 0.0010000000474974513
    default_joint_damping:
    - 5.0
    - 5.0
    - 5.0
    - 5.0
    - 5.0
    - 10.0
    - 10.0
    - 5.0
    - 5.0
    - 10.0
    - 10.0
    - 5.0
    - 5.0
    - 10.0
    - 10.0
    - 2.0
    - 2.0
    - 10.0
    - 10.0
    - 2.0
    - 2.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    - 10.0
    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
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 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:
    - -0.20000000298023224
    - -0.20000000298023224
    - 0.0
    - 0.0
    - 0.0
    - 0.3499999940395355
    - 0.3499999940395355
    - 0.0
    - 0.0
    - 0.1599999964237213
    - -0.1599999964237213
    - 0.41999998688697815
    - 0.41999998688697815
    - 0.0
    - 0.0
    - -0.23000000417232513
    - -0.23000000417232513
    - 0.8700000047683716
    - 0.8700000047683716
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 1.0
    - 0.0
    - 0.0
    - -1.0
    - 0.5199999809265137
    - -0.5199999809265137
    default_joint_pos_limits:
    - - -2.3499996662139893
      - 3.049999952316284
    - - -2.3499996662139893
      - 3.049999952316284
    - - -2.618000030517578
      - 2.618000030517578
    - - -0.25999996066093445
      - 2.5299997329711914
    - - -2.5299997329711914
      - 0.25999996066093445
    - - -2.967099666595459
      - 2.7924997806549072
    - - -2.967099666595459
      - 2.7924997806549072
    - - -2.749999761581421
      - 2.749999761581421
    - - -2.749999761581421
      - 2.749999761581421
    - - -1.5881999731063843
      - 2.251499652862549
    - - -2.251499652862549
      - 1.5881999731063843
    - - -0.3348899781703949
      - 2.5448997020721436
    - - -0.3348899781703949
      - 2.5448997020721436
    - - -2.618000030517578
      - 2.618000030517578
    - - -2.618000030517578
      - 2.618000030517578
    - - -0.6799999475479126
      - 0.7299999594688416
    - - -0.6799999475479126
      - 0.7299999594688416
    - - -0.22679997980594635
      - 3.420799732208252
    - - -0.22679997980594635
      - 3.420799732208252
    - - -0.26179996132850647
      - 0.26179996132850647
    - - -0.26179996132850647
      - 0.26179996132850647
    - - -2.094299793243408
      - 2.094299793243408
    - - -2.094299793243408
      - 2.094299793243408
    - - -1.8399999141693115
      - 0.30000001192092896
    - - -1.8399999141693115
      - 0.30000001192092896
    - - -0.5235979557037354
      - 0.5235979557037354
    - - -0.30000001192092896
      - 1.8399999141693115
    - - -0.30000001192092896
      - 1.8399999141693115
    - - -0.5235979557037354
      - 0.5235979557037354
    - - -1.8399999141693115
      - 0.0
    - - -1.8399999141693115
      - 0.0
    - - -0.9999999403953552
      - 1.2000000476837158
    - - 0.0
      - 1.8399999141693115
    - - 0.0
      - 1.8399999141693115
    - - -1.2000000476837158
      - 0.9999999403953552
    - - 0.0
      - 1.8399999141693115
    - - -1.8399999141693115
      - 0.0
    default_joint_stiffness:
    - 200.0
    - 200.0
    - 200.0
    - 150.0
    - 150.0
    - 40.0
    - 40.0
    - 150.0
    - 150.0
    - 40.0
    - 40.0
    - 200.0
    - 200.0
    - 40.0
    - 40.0
    - 20.0
    - 20.0
    - 40.0
    - 40.0
    - 20.0
    - 20.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    - 40.0
    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
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 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:
    - left_hip_pitch_joint
    - right_hip_pitch_joint
    - torso_joint
    - left_hip_roll_joint
    - right_hip_roll_joint
    - left_shoulder_pitch_joint
    - right_shoulder_pitch_joint
    - left_hip_yaw_joint
    - right_hip_yaw_joint
    - left_shoulder_roll_joint
    - right_shoulder_roll_joint
    - left_knee_joint
    - right_knee_joint
    - left_shoulder_yaw_joint
    - right_shoulder_yaw_joint
    - left_ankle_pitch_joint
    - right_ankle_pitch_joint
    - left_elbow_pitch_joint
    - right_elbow_pitch_joint
    - left_ankle_roll_joint
    - right_ankle_roll_joint
    - left_elbow_roll_joint
    - right_elbow_roll_joint
    - left_five_joint
    - left_three_joint
    - left_zero_joint
    - right_five_joint
    - right_three_joint
    - right_zero_joint
    - left_six_joint
    - left_four_joint
    - left_one_joint
    - right_six_joint
    - right_four_joint
    - right_one_joint
    - left_two_joint
    - right_two_joint
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:
    - left_hip_pitch_joint
    - right_hip_pitch_joint
    - torso_joint
    - left_hip_roll_joint
    - right_hip_roll_joint
    - left_shoulder_pitch_joint
    - right_shoulder_pitch_joint
    - left_hip_yaw_joint
    - right_hip_yaw_joint
    - left_shoulder_roll_joint
    - right_shoulder_roll_joint
    - left_knee_joint
    - right_knee_joint
    - left_shoulder_yaw_joint
    - right_shoulder_yaw_joint
    - left_ankle_pitch_joint
    - right_ankle_pitch_joint
    - left_elbow_pitch_joint
    - right_elbow_pitch_joint
    - left_ankle_roll_joint
    - right_ankle_roll_joint
    - left_elbow_roll_joint
    - right_elbow_roll_joint
    - left_five_joint
    - left_three_joint
    - left_zero_joint
    - right_five_joint
    - right_three_joint
    - right_zero_joint
    - left_six_joint
    - left_four_joint
    - left_one_joint
    - right_six_joint
    - right_four_joint
    - right_one_joint
    - left_two_joint
    - right_two_joint
    joint_pos_offsets:
    - -0.20000000298023224
    - -0.20000000298023224
    - 0.0
    - 0.0
    - 0.0
    - 0.3499999940395355
    - 0.3499999940395355
    - 0.0
    - 0.0
    - 0.1599999964237213
    - -0.1599999964237213
    - 0.41999998688697815
    - 0.41999998688697815
    - 0.0
    - 0.0
    - -0.23000000417232513
    - -0.23000000417232513
    - 0.8700000047683716
    - 0.8700000047683716
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 1.0
    - 0.0
    - 0.0
    - -1.0
    - 0.5199999809265137
    - -0.5199999809265137
    mdp_type: Observation
    name: joint_pos_rel
    observation_type: JointState
    overloads:
      clip: null
      flatten_history_dim: true
      history_length: 0
      scale: null
    shape:
    - 37
  - 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:
    - left_hip_pitch_joint
    - right_hip_pitch_joint
    - torso_joint
    - left_hip_roll_joint
    - right_hip_roll_joint
    - left_shoulder_pitch_joint
    - right_shoulder_pitch_joint
    - left_hip_yaw_joint
    - right_hip_yaw_joint
    - left_shoulder_roll_joint
    - right_shoulder_roll_joint
    - left_knee_joint
    - right_knee_joint
    - left_shoulder_yaw_joint
    - right_shoulder_yaw_joint
    - left_ankle_pitch_joint
    - right_ankle_pitch_joint
    - left_elbow_pitch_joint
    - right_elbow_pitch_joint
    - left_ankle_roll_joint
    - right_ankle_roll_joint
    - left_elbow_roll_joint
    - right_elbow_roll_joint
    - left_five_joint
    - left_three_joint
    - left_zero_joint
    - right_five_joint
    - right_three_joint
    - right_zero_joint
    - left_six_joint
    - left_four_joint
    - left_one_joint
    - right_six_joint
    - right_four_joint
    - right_one_joint
    - left_two_joint
    - right_two_joint
    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
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 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:
    - 37
  - 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:
    - 37
scene:
  decimation: 4
  dt: 0.02
  physics_dt: 0.005
