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Sort humanoid actuators in the same order as the joints.

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PiperOrigin-RevId: 608558353
Change-Id: I84015a92c39c187f65d59623f2793c29bf24b8ef
This commit is contained in:
Yuval Tassa
2024-02-20 04:40:32 -08:00
committed by Copybara-Service
parent 78dc5aee9f
commit 7c534a066c
2 changed files with 4 additions and 3 deletions
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model/humanoid/README.md
+1
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@@ -13,6 +13,7 @@ in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
## Changelog
* 20-02-2024: Sorted actuators in the same order as the joints.
* 02-01-2024: Add more keyframes.
* 27-11-2023: Move humanoid geoms to group 1.
* 05-04-2023: Fix typo in texture size.
model/humanoid/humanoid.xml
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@@ -200,21 +200,21 @@
</tendon>
<actuator>
<motor name="abdomen_y" gear="40" joint="abdomen_y"/>
<motor name="abdomen_z" gear="40" joint="abdomen_z"/>
<motor name="abdomen_y" gear="40" joint="abdomen_y"/>
<motor name="abdomen_x" gear="40" joint="abdomen_x"/>
<motor name="hip_x_right" gear="40" joint="hip_x_right"/>
<motor name="hip_z_right" gear="40" joint="hip_z_right"/>
<motor name="hip_y_right" gear="120" joint="hip_y_right"/>
<motor name="knee_right" gear="80" joint="knee_right"/>
<motor name="ankle_x_right" gear="20" joint="ankle_x_right"/>
<motor name="ankle_y_right" gear="20" joint="ankle_y_right"/>
<motor name="ankle_x_right" gear="20" joint="ankle_x_right"/>
<motor name="hip_x_left" gear="40" joint="hip_x_left"/>
<motor name="hip_z_left" gear="40" joint="hip_z_left"/>
<motor name="hip_y_left" gear="120" joint="hip_y_left"/>
<motor name="knee_left" gear="80" joint="knee_left"/>
<motor name="ankle_x_left" gear="20" joint="ankle_x_left"/>
<motor name="ankle_y_left" gear="20" joint="ankle_y_left"/>
<motor name="ankle_x_left" gear="20" joint="ankle_x_left"/>
<motor name="shoulder1_right" gear="20" joint="shoulder1_right"/>
<motor name="shoulder2_right" gear="20" joint="shoulder2_right"/>
<motor name="elbow_right" gear="40" joint="elbow_right"/>