Fixes humanoid training with new velocity_limit_sim (#481)

# Description

Fixes training issues with humanoid locally. Need to check if it passes
the tests on AWS.
Builds on the PR that fixes the file headers, so that one should be
merged first?

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] 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

source/isaaclab_assets/isaaclab_assets/robots/humanoid.py

@@ -63,6 +63,7 @@ HUMANOID_CFG = ArticulationCfg(
                 ".*_shin": 0.1,
                 ".*_foot.*": 1.0,
             },
+            velocity_limit_sim={".*": 100.0},
         ),
     },
 )

source/isaaclab_assets/isaaclab_assets/robots/humanoid_28.py

@@ -43,6 +43,7 @@ HUMANOID_28_CFG = ArticulationCfg(
             joint_names_expr=[".*"],
             stiffness=None,
             damping=None,
+            velocity_limit_sim={".*": 100.0},
         ),
     },
 )

source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/humanoid_amp_env_cfg.py

@@ -66,9 +66,11 @@ class HumanoidAmpEnvCfg(DirectRLEnvCfg):
         actuators={
             "body": ImplicitActuatorCfg(
                 joint_names_expr=[".*"],
-                velocity_limit=100.0,
                 stiffness=None,
                 damping=None,
+                velocity_limit_sim={
+                    ".*": 100.0,
+                },
             ),
         },
     )

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py

@@ -4,8 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import isaaclab.sim as sim_utils
-from isaaclab.actuators import ImplicitActuatorCfg
-from isaaclab.assets import ArticulationCfg, AssetBaseCfg
+from isaaclab.assets import AssetBaseCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
@@ -16,10 +15,12 @@ from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils import configclass
-from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
 import isaaclab_tasks.manager_based.classic.humanoid.mdp as mdp
 
+from isaaclab_assets.robots.humanoid import HUMANOID_CFG  # isort:skip
+
+
 ##
 # Scene definition
 ##
@@ -39,56 +40,7 @@ class MySceneCfg(InteractiveSceneCfg):
     )
 
     # robot
-    robot = ArticulationCfg(
-        prim_path="{ENV_REGEX_NS}/Robot",
-        spawn=sim_utils.UsdFileCfg(
-            usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/IsaacSim/Humanoid/humanoid_instanceable.usd",
-            rigid_props=sim_utils.RigidBodyPropertiesCfg(
-                disable_gravity=None,
-                max_depenetration_velocity=10.0,
-                enable_gyroscopic_forces=True,
-            ),
-            articulation_props=sim_utils.ArticulationRootPropertiesCfg(
-                enabled_self_collisions=True,
-                solver_position_iteration_count=4,
-                solver_velocity_iteration_count=0,
-                sleep_threshold=0.005,
-                stabilization_threshold=0.001,
-            ),
-            copy_from_source=False,
-        ),
-        init_state=ArticulationCfg.InitialStateCfg(
-            pos=(0.0, 0.0, 1.34),
-            joint_pos={".*": 0.0},
-        ),
-        actuators={
-            "body": ImplicitActuatorCfg(
-                joint_names_expr=[".*"],
-                stiffness={
-                    ".*_waist.*": 20.0,
-                    ".*_upper_arm.*": 10.0,
-                    "pelvis": 10.0,
-                    ".*_lower_arm": 2.0,
-                    ".*_thigh:0": 10.0,
-                    ".*_thigh:1": 20.0,
-                    ".*_thigh:2": 10.0,
-                    ".*_shin": 5.0,
-                    ".*_foot.*": 2.0,
-                },
-                damping={
-                    ".*_waist.*": 5.0,
-                    ".*_upper_arm.*": 5.0,
-                    "pelvis": 5.0,
-                    ".*_lower_arm": 1.0,
-                    ".*_thigh:0": 5.0,
-                    ".*_thigh:1": 5.0,
-                    ".*_thigh:2": 5.0,
-                    ".*_shin": 0.1,
-                    ".*_foot.*": 1.0,
-                },
-            ),
-        },
-    )
+    robot = HUMANOID_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
 
     # lights
     light = AssetBaseCfg(