Robot

Robot (core/robot.py) is a configuration container, not a controller. It holds the asset paths and kinematics description that the simulators and the whole-body controllers consume.

Field	Purpose
mjcf_path	MuJoCo physics model
usd_path	Isaac Sim rendering model
curobo_usd, robot_cfg	CuRobo kinematics / planning config
joint_names, joint_limits, init_joint_states	Joint description and default pose
eef_link_name, eef_prim_path, robot_eef_offset	End-effector frames
controller_cfg	Controller selection (e.g. pd_joint_pos)

fk(), ik() and reset() are provided; low-level actuation is left to the simulator backend and the whole-body controller.

Implementations

Concrete robots in simple/robots/ compose Robot with mixins and protocols — CuRoboMixin (batch planning, grasping, kinematics), Humanoid, DualArm, HasDexterousHand, HeadCamMountable, WristCamMountable:

Class	Notes
G1Wholebody	Unitree G1, whole-body loco-manipulation
G1Sonic	G1 driven by the external SONIC controller
G1, G1Inspire, G1InspireWholebody	G1 variants with Inspire dexterous hands
Vega1	Humanoid with dexterous hands, head and wrist cameras
Aloha	Bimanual tabletop arms
FrankaResearch3	Single-arm tabletop (Franka FR3)

Whole-body control

High-level policies emit upper-body kinematic targets plus base navigation commands; a lower-body tracking controller runs at higher frequency to keep balance. SIMPLE ships three, behind a common setup_controller() / apply_action() interface: AMO, SONIC, and decoupled SONIC — see GR00T Decoupled Wholebody and SONIC Wholebody.