# 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.
#
from protomotions.robot_configs.base import (
RobotConfig,
RobotAssetConfig,
ControlConfig,
ControlType,
SimulatorParams,
)
from protomotions.simulator.isaacgym.config import (
IsaacGymSimParams,
IsaacGymPhysXParams,
)
from protomotions.simulator.isaaclab.config import (
IsaacLabSimParams,
IsaacLabPhysXParams,
)
from protomotions.simulator.genesis.config import GenesisSimParams
from protomotions.simulator.newton.config import NewtonSimParams
from protomotions.components.pose_lib import ControlInfo
from typing import List, Dict
from dataclasses import dataclass, field
# Parameters from BeyondMimic (https://github.com/HybridRobotics/whole_body_tracking/blob/main/source/whole_body_tracking/whole_body_tracking/robots/g1.py)
ARMATURE_5020 = 0.003609725
ARMATURE_7520_14 = 0.010177520
ARMATURE_7520_22 = 0.025101925
ARMATURE_4010 = 0.00425
NATURAL_FREQ = 10 * 2.0 * 3.1415926535 # 10Hz
DAMPING_RATIO = 2.0
STIFFNESS_5020 = ARMATURE_5020 * NATURAL_FREQ**2
STIFFNESS_7520_14 = ARMATURE_7520_14 * NATURAL_FREQ**2
STIFFNESS_7520_22 = ARMATURE_7520_22 * NATURAL_FREQ**2
STIFFNESS_4010 = ARMATURE_4010 * NATURAL_FREQ**2
DAMPING_5020 = 2.0 * DAMPING_RATIO * ARMATURE_5020 * NATURAL_FREQ
DAMPING_7520_14 = 2.0 * DAMPING_RATIO * ARMATURE_7520_14 * NATURAL_FREQ
DAMPING_7520_22 = 2.0 * DAMPING_RATIO * ARMATURE_7520_22 * NATURAL_FREQ
DAMPING_4010 = 2.0 * DAMPING_RATIO * ARMATURE_4010 * NATURAL_FREQ
[docs]
@dataclass
class G1RobotConfig(RobotConfig):
common_naming_to_robot_body_names: Dict[str, List[str]] = field(
default_factory=lambda: {
"all_left_foot_bodies": ["left_ankle_roll_link"],
"all_right_foot_bodies": ["right_ankle_roll_link"],
"all_left_hand_bodies": ["left_rubber_hand"],
"all_right_hand_bodies": ["right_rubber_hand"],
"head_body_name": ["head"],
"torso_body_name": ["torso_link"],
}
)
trackable_bodies_subset: List[str] = field(
default_factory=lambda: [
"torso_link",
"head",
"right_ankle_roll_link",
"left_ankle_roll_link",
"left_rubber_hand",
"right_rubber_hand",
]
)
default_root_height: float = 0.8
asset: RobotAssetConfig = field(
default_factory=lambda: RobotAssetConfig(
asset_file_name="mjcf/g1_bm_box_feet.xml",
usd_asset_file_name="usd/g1_bm_box_feet/g1_bm_box_feet.usda",
usd_bodies_root_prim_path="/World/envs/env_.*/Robot/pelvis/",
replace_cylinder_with_capsule=True,
thickness=0.01,
max_angular_velocity=1000.0,
max_linear_velocity=1000.0,
density=0.001,
angular_damping=0.0,
linear_damping=0.0,
)
)
control: ControlConfig = field(
default_factory=lambda: ControlConfig(
control_type=ControlType.BUILT_IN_PD,
override_control_info={
".*_hip_(pitch|yaw)_joint": ControlInfo(
stiffness=STIFFNESS_7520_14,
damping=DAMPING_7520_14,
effort_limit=88,
velocity_limit=32,
armature=ARMATURE_7520_14,
),
".*_hip_roll_joint": ControlInfo(
stiffness=STIFFNESS_7520_22,
damping=DAMPING_7520_22,
effort_limit=139,
velocity_limit=20,
armature=ARMATURE_7520_22,
),
".*_knee_joint": ControlInfo(
stiffness=STIFFNESS_7520_22,
damping=DAMPING_7520_22,
effort_limit=139,
velocity_limit=20,
armature=ARMATURE_7520_22,
),
".*_ankle_.*": ControlInfo(
stiffness=2 * STIFFNESS_5020,
damping=2 * DAMPING_5020,
effort_limit=50,
velocity_limit=37,
armature=2 * ARMATURE_5020,
),
"waist_yaw_joint": ControlInfo(
stiffness=STIFFNESS_7520_14,
damping=DAMPING_7520_14,
effort_limit=88,
velocity_limit=32,
armature=ARMATURE_7520_14,
),
"waist_(roll|pitch)_joint": ControlInfo(
stiffness=2.0 * STIFFNESS_5020,
damping=2.0 * DAMPING_5020,
effort_limit=50,
velocity_limit=37,
armature=2.0 * ARMATURE_5020,
),
".*_(shoulder|elbow)_.*": ControlInfo(
stiffness=STIFFNESS_5020,
damping=DAMPING_5020,
effort_limit=25,
velocity_limit=37,
armature=ARMATURE_5020,
),
".*_wrist_roll_joint": ControlInfo(
stiffness=STIFFNESS_5020,
damping=DAMPING_5020,
effort_limit=25,
velocity_limit=37,
armature=ARMATURE_5020,
),
".*_wrist_pitch_joint": ControlInfo(
stiffness=STIFFNESS_4010,
damping=DAMPING_4010,
effort_limit=5,
velocity_limit=22,
armature=ARMATURE_4010,
),
".*_wrist_yaw_joint": ControlInfo(
stiffness=STIFFNESS_4010,
damping=DAMPING_4010,
effort_limit=5,
velocity_limit=22,
armature=ARMATURE_4010,
),
},
)
)
simulation_params: SimulatorParams = field(
default_factory=lambda: SimulatorParams(
isaacgym=IsaacGymSimParams(
fps=100,
decimation=2,
substeps=2,
physx=IsaacGymPhysXParams(
num_position_iterations=8,
num_velocity_iterations=4,
max_depenetration_velocity=1,
),
),
isaaclab=IsaacLabSimParams(
fps=200,
decimation=4,
physx=IsaacLabPhysXParams(
num_position_iterations=8,
num_velocity_iterations=4,
max_depenetration_velocity=1,
),
),
genesis=GenesisSimParams(
fps=100,
decimation=2,
substeps=2,
),
newton=NewtonSimParams(
fps=200,
decimation=4,
),
)
)