# 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 (
H1_2_300,
H1_2_200,
H1_2_60,
H1_2_40,
)
from typing import List, Dict, Tuple
from dataclasses import dataclass, field
[docs]
@dataclass
class H1_2RobotConfig(RobotConfig):
semantic_forward_axis_xy: Tuple[float, float] = (1.0, 0.0)
# The MJCF imu site has identity axes on torso_link.
imu_body_name: str = "torso_link"
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_wrist_yaw_link"],
"all_right_hand_bodies": ["right_wrist_yaw_link"],
"head_body_name": ["head_aux"],
"torso_body_name": ["torso_link"],
}
)
trackable_bodies_subset: List[str] = field(
default_factory=lambda: [
"torso_link",
"head_aux",
"right_ankle_roll_link",
"left_ankle_roll_link",
"left_wrist_yaw_link",
"right_wrist_yaw_link",
]
)
default_root_height: float = 1.03
asset: RobotAssetConfig = field(
default_factory=lambda: RobotAssetConfig(
asset_file_name="mjcf/h1_2_box_feet.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={
# Gains follow from the motor rating; scale=2 is two motors in
# parallel (ankle pitch/roll). effort_limit overrides the motor
# default for joints whose actuator differs from its gain class.
".*_hip_(yaw|pitch|roll)_joint": H1_2_200.control_info(),
".*_knee_joint": H1_2_300.control_info(),
".*_ankle_pitch_joint": H1_2_60.control_info(scale=2),
".*_ankle_roll_joint": H1_2_40.control_info(scale=2),
"torso_joint": H1_2_200.control_info(),
".*_shoulder_(pitch|roll)_joint": H1_2_40.control_info(),
".*_shoulder_yaw_joint": H1_2_40.control_info(effort_limit=18),
".*_elbow_joint": H1_2_40.control_info(effort_limit=18),
".*_wrist_(roll|pitch|yaw)_joint": H1_2_40.control_info(
effort_limit=19
),
},
)
)
# 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
