SOMA23#

Select --robot-name soma23 for the 23-body SOMA humanoid. It drops seven unactuated leaf bodies from SOMASkeleton30 and retains 66 joint coordinates. The default asset is mjcf/soma23_humanoid.xml.

Default Contract#

  • Config: protomotions/robot_configs/soma23.py (Soma23RobotConfig).

  • Structure: 23 bodies, 66 joint DOFs; -Y forward, Z up.

  • Observation anchor: the root body Hips (no override).

  • Target bodies: Hips, Head, LeftFoot, RightFoot, LeftHand, RightHand.

PD gains and armatures come from the MJCF. The config overrides effort limits to 300 N m for torso/head and legs, 150 N m for arms/hands, and joint velocity limits to 100 rad/s. Experiments may override these values and the action map. The default MuJoCo settings use implicitfast at 960 physics steps/s and decimation 32, preserving a 30 Hz control rate.

These defaults are the observation contract of the shipped SOMA23 policies and stay as they are. Anatomical SOMA anchors on Chest instead; see its page.

Motion Preparation#

Use the SOMA conversion pipeline for this model. Do not substitute anatomical SOMA coordinates: its hinge structure, forward direction and body count differ. See Anatomical SOMA for the comparison and explicit retargeting procedure.