protomotions.robot_configs module#

Robot configuration classes defining morphology and control parameters.

Base Configuration#

class protomotions.robot_configs.base.RobotConfig( asset, common_naming_to_robot_body_names=<factory>, default_root_height=1, default_dof_pos=None, contact_bodies=None, trackable_bodies_subset='all', non_termination_contact_bodies='all', init_state=None, mimic_small_marker_bodies=None, anchor_body_name=None, contact_pairs_multiplier=16, control=<factory>, simulation_params=<factory>, )[source]#

Bases: object

Configuration for robot morphology and control parameters.

Defines all robot-specific parameters including asset files, body names, control settings, and physical properties. Each robot (SMPL, G1, etc.) should subclass this and provide robot-specific values.

Key configuration areas:

Asset: Robot mesh/URDF files and physical properties
Body Names: Named body parts for tracking and observations
Control: PD gains, action scales, and control modes
Kinematic Info: Joint structure extracted from MJCF/URDF
Simulator Params: Simulator-specific overrides

Example:

config = RobotConfig(
    asset=RobotAssetConfig(asset_file_name="robot.xml"),
    control=ControlConfig(control_type=ControlType.BUILT_IN_PD)
)

asset: RobotAssetConfig#

common_naming_to_robot_body_names: Dict[str, List[str]]#

default_root_height: float = 1#

default_dof_pos: List[float] | MockTensor | None = None#

contact_bodies: List[str] | str | None = None#

trackable_bodies_subset: List[str] | str = 'all'#

non_termination_contact_bodies: List[str] | str = 'all'#

init_state: InitState | None = None#

mimic_small_marker_bodies: List[str] | None = None#

anchor_body_name: str | None = None#

contact_pairs_multiplier: int = 16#

control: ControlConfig#

kinematic_info: KinematicInfo#

number_of_actions: int#

anchor_body_index: int#

simulation_params: SimulatorParams#

__post_init__()[source]#: Compute derived fields after initialization.

update_fields(**kwargs)[source]#

Update robot config fields and reprocess derived fields.

This is useful when you need to modify fields after initialization without manually calling __post_init__.

Parameters:: **kwargs – Fields to update on the robot config

__init__( asset, common_naming_to_robot_body_names=<factory>, default_root_height=1, default_dof_pos=None, contact_bodies=None, trackable_bodies_subset='all', non_termination_contact_bodies='all', init_state=None, mimic_small_marker_bodies=None, anchor_body_name=None, contact_pairs_multiplier=16, control=<factory>, simulation_params=<factory>, )#

SMPL Humanoid#

class protomotions.robot_configs.smpl.SmplRobotConfig(asset: protomotions.robot_configs.base.RobotAssetConfig = <factory>, common_naming_to_robot_body_names: Dict[str, str] = <factory>, default_root_height: float = 0.95, default_dof_pos: Union[List[float], MockTensor, NoneType] = None, contact_bodies: Union[List[str], str, NoneType] = None, trackable_bodies_subset: List[str] = <factory>, non_termination_contact_bodies: List[str] = <factory>, init_state: Optional[protomotions.robot_configs.base.InitState] = None, mimic_small_marker_bodies: Optional[List[str]] = None, anchor_body_name: Optional[str] = None, contact_pairs_multiplier: int = 16, control: protomotions.robot_configs.base.ControlConfig = <factory>, simulation_params: protomotions.robot_configs.base.SimulatorParams = <factory>)[source]#

Bases: RobotConfig

default_root_height: float = 0.95#

simulation_params: SimulatorParams#

__init__( asset=<factory>, common_naming_to_robot_body_names=<factory>, default_root_height=0.95, default_dof_pos=None, contact_bodies=None, trackable_bodies_subset=<factory>, non_termination_contact_bodies=<factory>, init_state=None, mimic_small_marker_bodies=None, anchor_body_name=None, contact_pairs_multiplier=16, control=<factory>, simulation_params=<factory>, )#

SMPL-X Humanoid#

class protomotions.robot_configs.smplx.SMPLXRobotConfig(asset: protomotions.robot_configs.base.RobotAssetConfig = <factory>, common_naming_to_robot_body_names: Dict[str, List[str]] = <factory>, default_root_height: float = 0.95, default_dof_pos: Union[List[float], MockTensor, NoneType] = None, contact_bodies: List[str] = <factory>, trackable_bodies_subset: Union[List[str], str] = 'all', non_termination_contact_bodies: List[str] = <factory>, init_state: Optional[protomotions.robot_configs.base.InitState] = None, mimic_small_marker_bodies: List[str] = <factory>, anchor_body_name: Optional[str] = None, contact_pairs_multiplier: int = 20, control: protomotions.robot_configs.base.ControlConfig = <factory>, simulation_params: protomotions.robot_configs.base.SimulatorParams = <factory>)[source]#

Bases: RobotConfig

default_root_height: float = 0.95#

contact_pairs_multiplier: int = 20#

simulation_params: SimulatorParams#

__init__( asset=<factory>, common_naming_to_robot_body_names=<factory>, default_root_height=0.95, default_dof_pos=None, contact_bodies=<factory>, trackable_bodies_subset='all', non_termination_contact_bodies=<factory>, init_state=None, mimic_small_marker_bodies=<factory>, anchor_body_name=None, contact_pairs_multiplier=20, control=<factory>, simulation_params=<factory>, )#

Unitree H1 (Version 2)#

class protomotions.robot_configs.h1_2.H1_2RobotConfig(asset: protomotions.robot_configs.base.RobotAssetConfig = <factory>, common_naming_to_robot_body_names: Dict[str, List[str]] = <factory>, default_root_height: float = 1.03, default_dof_pos: Union[List[float], MockTensor, NoneType] = None, contact_bodies: Union[List[str], str, NoneType] = None, trackable_bodies_subset: List[str] = <factory>, non_termination_contact_bodies: Union[List[str], str] = 'all', init_state: Optional[protomotions.robot_configs.base.InitState] = None, mimic_small_marker_bodies: Optional[List[str]] = None, anchor_body_name: Optional[str] = None, contact_pairs_multiplier: int = 16, control: protomotions.robot_configs.base.ControlConfig = <factory>, simulation_params: protomotions.robot_configs.base.SimulatorParams = <factory>)[source]#

Bases: RobotConfig

default_root_height: float = 1.03#

simulation_params: SimulatorParams#

__init__( asset=<factory>, common_naming_to_robot_body_names=<factory>, default_root_height=1.03, default_dof_pos=None, contact_bodies=None, trackable_bodies_subset=<factory>, non_termination_contact_bodies='all', init_state=None, mimic_small_marker_bodies=None, anchor_body_name=None, contact_pairs_multiplier=16, control=<factory>, simulation_params=<factory>, )#

Unitree G1#

class protomotions.robot_configs.g1.G1RobotConfig(asset: protomotions.robot_configs.base.RobotAssetConfig = <factory>, common_naming_to_robot_body_names: Dict[str, List[str]] = <factory>, default_root_height: float = 0.8, default_dof_pos: Union[List[float], MockTensor, NoneType] = None, contact_bodies: Union[List[str], str, NoneType] = None, trackable_bodies_subset: List[str] = <factory>, non_termination_contact_bodies: Union[List[str], str] = 'all', init_state: Optional[protomotions.robot_configs.base.InitState] = None, mimic_small_marker_bodies: Optional[List[str]] = None, anchor_body_name: str = 'torso_link', contact_pairs_multiplier: int = 16, control: protomotions.robot_configs.base.ControlConfig = <factory>, simulation_params: protomotions.robot_configs.base.SimulatorParams = <factory>)[source]#

Bases: RobotConfig

default_root_height: float = 0.8#

anchor_body_name: str = 'torso_link'#

simulation_params: SimulatorParams#

__init__( asset=<factory>, common_naming_to_robot_body_names=<factory>, default_root_height=0.8, default_dof_pos=None, contact_bodies=None, trackable_bodies_subset=<factory>, non_termination_contact_bodies='all', init_state=None, mimic_small_marker_bodies=None, anchor_body_name='torso_link', contact_pairs_multiplier=16, control=<factory>, simulation_params=<factory>, )#

AMP Humanoid#

class protomotions.robot_configs.amp.AMPRobotConfig(asset: protomotions.robot_configs.base.RobotAssetConfig = <factory>, common_naming_to_robot_body_names: Dict[str, List[str]] = <factory>, default_root_height: float = 0.8, default_dof_pos: Union[List[float], MockTensor, NoneType] = None, contact_bodies: Union[List[str], str, NoneType] = None, trackable_bodies_subset: List[str] = <factory>, non_termination_contact_bodies: Union[List[str], str] = 'all', init_state: Optional[protomotions.robot_configs.base.InitState] = None, mimic_small_marker_bodies: Optional[List[str]] = None, anchor_body_name: Optional[str] = None, contact_pairs_multiplier: int = 16, control: protomotions.robot_configs.base.ControlConfig = <factory>, simulation_params: protomotions.robot_configs.base.SimulatorParams = <factory>)[source]#

Bases: RobotConfig

default_root_height: float = 0.8#

simulation_params: SimulatorParams#

__init__( asset=<factory>, common_naming_to_robot_body_names=<factory>, default_root_height=0.8, default_dof_pos=None, contact_bodies=None, trackable_bodies_subset=<factory>, non_termination_contact_bodies='all', init_state=None, mimic_small_marker_bodies=None, anchor_body_name=None, contact_pairs_multiplier=16, control=<factory>, simulation_params=<factory>, )#