# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
from __future__ import annotations
from dataclasses import dataclass, field
from typing import Dict, List, Tuple
from protomotions.robot_configs.base import (
ControlConfig,
ControlType,
RobotAssetConfig,
RobotConfig,
SimulatorParams,
)
from protomotions.robot_configs.motor_classes import MotorClass
from protomotions.simulator.isaacgym.config import IsaacGymSimParams
from protomotions.simulator.isaaclab.config import (
IsaacLabPhysXParams,
IsaacLabSimParams,
)
from protomotions.simulator.mujoco.config import MujocoSimParams
# Motor classes, written out here so this robot does not move when another
# robot's config does. Provenance: Unitree G1 actuator classes (7520-14,
# 7520-22, 5020, 4010, and a 50 Nm ankle on the 5020 rotor) with 25% more
# capacity, the rotor armature and the torque limit scaling together like a
# stronger motor of the same design, and a 1.5x speed limit. The speed
# headroom exists because the anatomical corpus is retargeted under a 20 rad/s
# joint-speed budget: at 1x the slowest class (20 rad/s, on the knees and the
# hip roll hinges) would sit exactly at the reference peak and the hard PhysX velocity
# clamp would leave the policy no room to catch up after an error. These are
# simulation design choices, not measured human actuator properties.
CAPACITY = 1.25
SPEED = 1.5
WAIST = MotorClass(
armature=CAPACITY * 0.010177520,
effort_limit=CAPACITY * 88,
velocity_limit=SPEED * 32,
)
HIP_KNEE = MotorClass(
armature=CAPACITY * 0.025101925,
effort_limit=CAPACITY * 139,
velocity_limit=SPEED * 20,
)
ARM = MotorClass(
armature=CAPACITY * 0.003609725,
effort_limit=CAPACITY * 25,
velocity_limit=SPEED * 37,
)
WRIST = MotorClass(
armature=CAPACITY * 0.00425, effort_limit=CAPACITY * 5, velocity_limit=SPEED * 22
)
ANKLE = MotorClass(
armature=CAPACITY * 0.003609725,
effort_limit=CAPACITY * 50,
velocity_limit=SPEED * 37,
)
[docs]
@dataclass
class AnatomicSomaRobotConfig(RobotConfig):
"""52 serial hinges, 23 semantic parts and 39 primitive colliders.
The SOMA23 skeleton with its joints expanded into serial hinges on their
own carrier links: 15 of the 22 joints get three hinges (pitch, roll and
twist), the knees, elbows and toes one hinge each, and Neck2 a single yaw
(15 * 3 + 7 = 52). That gives 53 bodies, of which the 30 intermediate links
are non-colliding hinge carriers sitting on their semantic body. Joint ranges are engineering limits,
not a medically validated human range-of-motion model. Motion files must be
retargeted to this skeleton; SOMA23 packs (66 DOFs, 23 bodies) do not load.
See mjcf/anatomic_soma.xml for the definition.
"""
semantic_forward_axis_xy: Tuple[float, float] = (1.0, 0.0)
anchor_body_name: str = "Chest"
common_naming_to_robot_body_names: Dict[str, List[str]] = field(
default_factory=lambda: {
"all_left_foot_bodies": ["LeftFoot", "LeftToeBase"],
"all_right_foot_bodies": ["RightFoot", "RightToeBase"],
"all_left_hand_bodies": ["LeftHand"],
"all_right_hand_bodies": ["RightHand"],
"head_body_name": ["Head"],
"torso_body_name": ["Chest"],
}
)
trackable_bodies_subset: List[str] = field(
default_factory=lambda: [
"Chest",
"Head",
"LeftFoot",
"RightFoot",
"LeftHand",
"RightHand",
]
)
default_root_height: float = 0.95
asset: RobotAssetConfig = field(
default_factory=lambda: RobotAssetConfig(
asset_file_name="mjcf/anatomic_soma.xml",
self_collisions=True,
max_linear_velocity=100.0,
max_angular_velocity=100.0,
angular_damping=0.0,
linear_damping=0.0,
)
)
control: ControlConfig = field(
default_factory=lambda: ControlConfig(
control_type=ControlType.BUILT_IN_PD,
# Class assignments are not homologous axes: every torso axis uses
# the waist-yaw class, and every wrist axis uses the weak wrist
# class. Each ankle carries two motors (scale=2 doubles armature and
# gains, not the speed limit).
override_control_info={
"(Spine[12]|Chest)_.*": WAIST.control_info(),
"(Left|Right)Leg_[xz]": WAIST.control_info(),
"(Left|Right)(Leg_y|Shin_x)": HIP_KNEE.control_info(),
"(Left|Right)Foot_.*": ANKLE.control_info(scale=2),
"(Neck1|(Left|Right)(Shoulder|Arm|ForeArm|ToeBase))_.*": ARM.control_info(),
"(Neck2|Head|(Left|Right)Hand)_.*": WRIST.control_info(),
},
)
)
control_hz: int = 30
# Same blocks as SOMA23 except IsaacLab, which gets more contact-solver
# resolution for the serial hinge chains: 240 Hz physics with 8 position
# iterations. Each passed block replaces the humanoid template for its
# backend; the decision rate stays 30 Hz everywhere.
simulation_params: SimulatorParams = field(
default_factory=lambda: SimulatorParams.humanoid(
30,
isaacgym=IsaacGymSimParams(fps=60),
isaaclab=IsaacLabSimParams(
fps=240,
physx=IsaacLabPhysXParams(
num_position_iterations=8,
num_velocity_iterations=4,
max_depenetration_velocity=1,
),
),
mujoco=MujocoSimParams(fps=960, integrator="implicitfast"),
)
)
