# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
from protomotions.robot_configs.base import (
RobotConfig,
RobotAssetConfig,
ControlConfig,
ControlType,
)
from protomotions.robot_configs.motor_classes import (
G1_5020,
G1_7520_14,
G1_7520_22,
G1_4010,
)
from typing import List, Dict, Optional, Tuple
from dataclasses import dataclass, field
# Default standing pose (radians), from BeyondMimic.
# Regex patterns resolved against DOF names in RobotConfig.__post_init__.
DEFAULT_JOINT_POS = {
".*_hip_pitch_joint": -0.312,
".*_knee_joint": 0.669,
".*_ankle_pitch_joint": -0.363,
".*_elbow_joint": 0.6,
"left_shoulder_roll_joint": 0.2,
"left_shoulder_pitch_joint": 0.2,
"right_shoulder_roll_joint": -0.2,
"right_shoulder_pitch_joint": 0.2,
}
[docs]
@dataclass
class G1RobotConfig(RobotConfig):
semantic_forward_axis_xy: Tuple[float, float] = (1.0, 0.0)
common_naming_to_robot_body_names: Dict[str, List[str]] = field(
default_factory=lambda: {
"all_left_foot_bodies": ["left_ankle_roll_link"],
"all_right_foot_bodies": ["right_ankle_roll_link"],
"all_left_hand_bodies": ["left_rubber_hand"],
"all_right_hand_bodies": ["right_rubber_hand"],
"head_body_name": ["head"],
"torso_body_name": ["torso_link"],
}
)
trackable_bodies_subset: List[str] = field(
default_factory=lambda: [
"torso_link",
"head",
"right_ankle_roll_link",
"left_ankle_roll_link",
"left_rubber_hand",
"right_rubber_hand",
]
)
default_root_height: float = 0.8
default_dof_pos: Dict[str, float] = field(default_factory=lambda: DEFAULT_JOINT_POS)
anchor_body_name: Optional[str] = "torso_link"
# Torso orientation is reconstructed through the waist from the pelvis IMU.
imu_body_name: str = "pelvis"
asset: RobotAssetConfig = field(
default_factory=lambda: RobotAssetConfig(
asset_file_name="mjcf/g1_holo_compat.xml",
replace_cylinder_with_capsule=True,
thickness=0.01,
max_angular_velocity=1000.0,
max_linear_velocity=1000.0,
density=0.001,
angular_damping=0.0,
linear_damping=0.0,
)
)
control: ControlConfig = field(
default_factory=lambda: ControlConfig(
control_type=ControlType.BUILT_IN_PD,
override_control_info={
# A joint's gains follow from its motor; scale=2 is two motors
# in parallel (ankle, waist roll/pitch). effort_limit overrides
# the motor default where the joint carries a different actuator.
".*_hip_(pitch|yaw)_joint": G1_7520_14.control_info(),
".*_hip_roll_joint": G1_7520_22.control_info(),
".*_knee_joint": G1_7520_22.control_info(),
".*_ankle_.*": G1_5020.control_info(scale=2, effort_limit=50),
"waist_yaw_joint": G1_7520_14.control_info(),
"waist_(roll|pitch)_joint": G1_5020.control_info(
scale=2, effort_limit=50
),
".*_(shoulder|elbow)_.*": G1_5020.control_info(),
".*_wrist_roll_joint": G1_5020.control_info(),
".*_wrist_pitch_joint": G1_4010.control_info(),
".*_wrist_yaw_joint": G1_4010.control_info(),
},
)
)
# 50 Hz policy; simulation_params defaults to the humanoid physics for 50 Hz
# (isaacgym 100, isaaclab/newton 200, mujoco 1000 fps).
control_hz: int = 50
