SMPL Humanoid#

Select --robot-name smpl for the 24-body simulated SMPL humanoid. Its configured asset is mjcf/smpl_humanoid.xml. This articulation is distinct from the SMPL statistical body-model files used during data conversion.

Default Contract#

  • Config: protomotions/robot_configs/smpl.py (SmplRobotConfig).

  • Structure: 24 bodies, 69 joint DOFs; +X forward, Z up.

  • Observation anchor: root body Pelvis (no explicit anchor override).

  • Target bodies: Pelvis, L_Ankle, R_Ankle, L_Hand, R_Hand, Head.

The config overrides PD gains and effort/velocity limits by joint family. It uses built-in PD control by default; the experiment determines how actions become PD targets. SMPL-X and SOMA motions are not interchangeable with this model’s joint/body arrays.

Assets And Motion Preparation#

SMPL-derived assets are excluded from the pip wheel. Follow the source-checkout installation instructions and the applicable model licenses. AMASS conversion also requires separately obtained SMPL body-model files; framework installation does not grant access to those models or to AMASS data.