# 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,
SimulatorParams,
)
from protomotions.simulator.isaacgym.config import IsaacGymSimParams
from protomotions.simulator.isaaclab.config import (
IsaacLabSimParams,
IsaacLabPhysXParams,
)
from protomotions.simulator.mujoco.config import MujocoSimParams
from protomotions.components.pose_lib import ControlInfo
from typing import List, Dict, Tuple
from dataclasses import dataclass, field
[docs]
@dataclass
class SmplRobotConfig(RobotConfig):
semantic_forward_axis_xy: Tuple[float, float] = (1.0, 0.0)
trackable_bodies_subset: List[str] = field(
default_factory=lambda: [
"Pelvis",
"L_Ankle",
"R_Ankle",
"L_Hand",
"R_Hand",
"Head",
]
)
non_termination_contact_bodies: List[str] = field(
default_factory=lambda: ["R_Ankle", "L_Ankle", "R_Toe", "L_Toe"]
)
common_naming_to_robot_body_names: Dict[str, str] = field(
default_factory=lambda: {
"all_left_foot_bodies": ["L_Ankle", "L_Toe"],
"all_right_foot_bodies": ["R_Ankle", "R_Toe"],
"all_left_hand_bodies": ["L_Hand"],
"all_right_hand_bodies": ["R_Hand"],
"head_body_name": ["Head"],
"torso_body_name": ["Torso"],
}
)
default_root_height: float = 0.95
asset: RobotAssetConfig = field(
default_factory=lambda: RobotAssetConfig(
asset_file_name="mjcf/smpl_humanoid.xml",
max_linear_velocity=1000.0,
max_angular_velocity=1000.0,
angular_damping=0.0,
linear_damping=0.0,
)
)
control: ControlConfig = field(
default_factory=lambda: ControlConfig(
control_type=ControlType.BUILT_IN_PD,
override_control_info={
".*_(Hip|Knee|Ankle)_.*": ControlInfo(
stiffness=800,
damping=80,
effort_limit=500,
velocity_limit=100,
),
".*_Toe_.*": ControlInfo(
stiffness=500,
damping=50,
effort_limit=500,
velocity_limit=100,
),
"(Torso|Spine|Chest)_.*": ControlInfo(
stiffness=1000,
damping=100,
effort_limit=500,
velocity_limit=100,
),
"(Neck|Head|.*_Thorax|.*_Shoulder|.*_Elbow)_.*": ControlInfo(
stiffness=500,
damping=50,
effort_limit=500,
velocity_limit=100,
),
".*_(Wrist|Hand)_.*": ControlInfo(
stiffness=300,
damping=30,
effort_limit=500,
velocity_limit=100,
),
},
)
)
control_hz: int = 30
# Each passed block replaces (not merges with) the humanoid template for its
# backend, so fields it omits are class defaults, not the humanoid tuning;
# newton falls back to the humanoid default (120 fps). implicitfast treats
# the PD damping implicitly (Euler only does that for joint damping), which
# keeps stiff gains on light links stable.
simulation_params: SimulatorParams = field(
default_factory=lambda: SimulatorParams.humanoid(
30,
isaacgym=IsaacGymSimParams(fps=60),
isaaclab=IsaacLabSimParams(
fps=120,
physx=IsaacLabPhysXParams(
num_position_iterations=4,
num_velocity_iterations=4,
max_depenetration_velocity=1,
),
),
mujoco=MujocoSimParams(fps=960, integrator="implicitfast"),
)
)
