# 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 (
IsaacLabPhysXParams,
IsaacLabSimParams,
)
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 Soma23RobotConfig(RobotConfig):
"""
23-body humanoid derived from SOMASkeleton30.
Drops seven unactuated leaf end-effectors::
Jaw, LeftEye, RightEye,
LeftHandThumbEnd, LeftHandMiddleEnd,
RightHandThumbEnd, RightHandMiddleEnd
Remaining 23 bodies (22 joints × 3-DOF hinge = 66 DOFs)::
Hips (root), Spine1, Spine2, Chest,
Neck1, Neck2, Head,
RightShoulder, RightArm, RightForeArm, RightHand,
LeftShoulder, LeftArm, LeftForeArm, LeftHand,
RightLeg, RightShin, RightFoot, RightToeBase,
LeftLeg, LeftShin, LeftFoot, LeftToeBase
See mjcf/soma23_humanoid.xml for definition.
"""
semantic_forward_axis_xy: Tuple[float, float] = (0.0, -1.0)
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: [
"Hips",
"Head",
"LeftFoot",
"RightFoot",
"LeftHand",
"RightHand",
]
)
default_root_height: float = 0.95
asset: RobotAssetConfig = field(
default_factory=lambda: RobotAssetConfig(
asset_file_name="mjcf/soma23_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={
"(Spine|Chest|Neck|Head).*": ControlInfo(
effort_limit=300, velocity_limit=100
),
".*(Shoulder|Arm|Hand)_.*": ControlInfo(
effort_limit=150, velocity_limit=100
),
".*(Leg|Shin|Foot|ToeBase)_.*": ControlInfo(
effort_limit=300, 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"),
)
)
