# 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
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
[docs]
@dataclass
class SMPLXRobotConfig(RobotConfig):
non_termination_contact_bodies: List[str] = field(
default_factory=lambda: ["R_Ankle", "L_Ankle", "R_Toe", "L_Toe"]
)
common_naming_to_robot_body_names: Dict[str, List[str]] = field(
default_factory=lambda: {
"all_left_foot_bodies": ["L_Ankle", "L_Toe"],
"all_right_foot_bodies": ["R_Ankle", "R_Toe"],
"all_left_hand_bodies": [
"L_Wrist",
"L_Index1",
"L_Index2",
"L_Index3",
"L_Middle1",
"L_Middle2",
"L_Middle3",
"L_Pinky1",
"L_Pinky2",
"L_Pinky3",
"L_Ring1",
"L_Ring2",
"L_Ring3",
"L_Thumb1",
"L_Thumb2",
"L_Thumb3",
],
"all_right_hand_bodies": [
"R_Wrist",
"R_Index1",
"R_Index2",
"R_Index3",
"R_Middle1",
"R_Middle2",
"R_Middle3",
"R_Pinky1",
"R_Pinky2",
"R_Pinky3",
"R_Ring1",
"R_Ring2",
"R_Ring3",
"R_Thumb1",
"R_Thumb2",
"R_Thumb3",
],
"head_body_name": ["Head"],
"torso_body_name": ["Torso"],
}
)
default_root_height: float = 0.95
# SMPLX-specific configuration
contact_bodies: List[str] = field(
default_factory=lambda: [
"L_Index1",
"L_Index2",
"L_Index3",
"L_Middle1",
"L_Middle2",
"L_Middle3",
"L_Pinky1",
"L_Pinky2",
"L_Pinky3",
"L_Ring1",
"L_Ring2",
"L_Ring3",
"L_Thumb1",
"L_Thumb2",
"L_Thumb3",
"R_Index1",
"R_Index2",
"R_Index3",
"R_Middle1",
"R_Middle2",
"R_Middle3",
"R_Pinky1",
"R_Pinky2",
"R_Pinky3",
"R_Ring1",
"R_Ring2",
"R_Ring3",
"R_Thumb1",
"R_Thumb2",
"R_Thumb3",
]
)
contact_pairs_multiplier: int = 20
mimic_small_marker_bodies: List[str] = field(
default_factory=lambda: [
"L_Wrist",
"R_Wrist",
"L_Index1",
"L_Index2",
"L_Index3",
"L_Middle1",
"L_Middle2",
"L_Middle3",
"L_Pinky1",
"L_Pinky2",
"L_Pinky3",
"L_Ring1",
"L_Ring2",
"L_Ring3",
"L_Thumb1",
"L_Thumb2",
"L_Thumb3",
"R_Index1",
"R_Index2",
"R_Index3",
"R_Middle1",
"R_Middle2",
"R_Middle3",
"R_Pinky1",
"R_Pinky2",
"R_Pinky3",
"R_Ring1",
"R_Ring2",
"R_Ring3",
"R_Thumb1",
"R_Thumb2",
"R_Thumb3",
]
)
asset: RobotAssetConfig = field(
default_factory=lambda: RobotAssetConfig(
asset_file_name="mjcf/smplx_humanoid.xml",
usd_asset_file_name="usd/smplx_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,
override_control_info={
".*_(Hip|Knee|Ankle)_.*": ControlInfo(
stiffness=800, damping=80, effort_limit=500, velocity_limit=100
),
".*_Toe_.*": ControlInfo(
stiffness=500, damping=50, effort_limit=500, velocity_limit=100
),
"(Torso|Spine|Chest)_.*": ControlInfo(
stiffness=1000, damping=100, effort_limit=500, velocity_limit=100
),
"(Neck|Head|.*_Thorax|.*_Shoulder)_.*": ControlInfo(
stiffness=500, damping=50, effort_limit=500, velocity_limit=100
),
".*_(Elbow|Wrist)_.*": ControlInfo(
stiffness=300, damping=30, effort_limit=300, velocity_limit=100
),
".*_(Index|Middle|Pinky|Ring|Thumb)[123]_[xyz]": ControlInfo(
stiffness=10, damping=1, effort_limit=10, velocity_limit=5
),
},
)
)
simulation_params: SimulatorParams = field(
default_factory=lambda: SimulatorParams(
isaacgym=IsaacGymSimParams(
fps=60,
decimation=2,
substeps=2,
),
isaaclab=IsaacLabSimParams(
fps=120,
decimation=4,
physx=IsaacLabPhysXParams(
num_position_iterations=4,
num_velocity_iterations=4,
max_depenetration_velocity=1,
),
),
genesis=GenesisSimParams(
fps=60,
decimation=2,
substeps=2,
),
newton=NewtonSimParams(
fps=120,
decimation=4,
),
)
)