SMPL-X Humanoid#

Select --robot-name smplx for the simulated SMPL-X articulation with articulated fingers. Its configured asset is mjcf/smplx_humanoid.xml. The counts below describe this simulation asset, not every joint or landmark in the full statistical SMPL-X body model.

Default Contract#

  • Config: protomotions/robot_configs/smplx.py (SMPLXRobotConfig).

  • Structure: 52 bodies, 153 joint DOFs; +X forward, Z up.

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

  • Target bodies: all bodies by default, inherited from RobotConfig.

Hand semantic groups include the wrists and finger segments. Finger contact bodies and smaller visualization markers are configured explicitly. The config uses lower gains and effort limits for fingers than for the torso and limbs; preserve those distinctions when adapting a controller.

Assets And Motion Preparation#

SMPL-family MJCF assets are excluded from the pip wheel. Obtain the required source assets and body models under their own license terms. Use the SMPL-X conversion path; a 24-body SMPL motion does not supply this model’s finger coordinates or body layout.