Source code for protomotions.robot_configs.amp

# SPDX-FileCopyrightText: Copyright (c) 2025 The ProtoMotions Developers
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
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from protomotions.robot_configs.base import (
    RobotConfig,
    RobotAssetConfig,
    ControlConfig,
    ControlType,
    SimulatorParams,
)
from protomotions.simulator.isaacgym.config import IsaacGymSimParams
from protomotions.simulator.isaaclab.config import IsaacLabSimParams
from protomotions.simulator.genesis.config import GenesisSimParams
from protomotions.simulator.newton.config import NewtonSimParams
from typing import List, Dict
from dataclasses import dataclass, field




@dataclass
class AMPRobotConfig(RobotConfig):
    common_naming_to_robot_body_names: Dict[str, List[str]] = field(
        default_factory=lambda: {
            "all_right_foot_bodies": ["right_foot"],
            "all_left_foot_bodies": ["left_foot"],
            "all_left_hand_bodies": ["left_hand"],
            "all_right_hand_bodies": ["right_hand"],
            "head_body_name": ["head"],
            "torso_body_name": ["torso"],
        }
    )

    trackable_bodies_subset: List[str] = field(
        default_factory=lambda: [
            "torso",
            "head",
            "left_foot",
            "right_foot",
            "left_hand",
            "right_hand",
        ]
    )

    default_root_height: float = 0.8

    asset: RobotAssetConfig = field(
        default_factory=lambda: RobotAssetConfig(
            asset_file_name="mjcf/amp_humanoid.xml",
            usd_asset_file_name="usd/amp_humanoid.usda",
            usd_bodies_root_prim_path="/World/envs/env_.*/Robot/bodies/",
        )
    )

    control: ControlConfig = field(
        default_factory=lambda: ControlConfig(control_type=ControlType.BUILT_IN_PD)
    )

    simulation_params: SimulatorParams = field(
        default_factory=lambda: SimulatorParams(
            isaacgym=IsaacGymSimParams(
                fps=60,
                decimation=2,
                substeps=2,
            ),
            isaaclab=IsaacLabSimParams(
                fps=120,
                decimation=4,
            ),
            genesis=GenesisSimParams(
                fps=60,
                decimation=2,
                substeps=2,
            ),
            newton=NewtonSimParams(
                fps=120,
                decimation=4,
            ),
        )
    )