From cd972bbeee9691ed19c31e535c76b59e2611c075 Mon Sep 17 00:00:00 2001 From: Kevin Zakka Date: Wed, 3 Jan 2024 04:46:13 -0800 Subject: [PATCH] Document humanoid model changes in changelog section of its README + minor cosmetic improvements. PiperOrigin-RevId: 595367344 Change-Id: I17483de71c6cbcf6a66e2fad762cc32f8cbee8b5 --- model/humanoid/README.md | 34 ++++++++++++++++++++++++++-------- 1 file changed, 26 insertions(+), 8 deletions(-) diff --git a/model/humanoid/README.md b/model/humanoid/README.md index 28ab7e7a..6f926186 100644 --- a/model/humanoid/README.md +++ b/model/humanoid/README.md @@ -1,17 +1,35 @@ -Humanoid -======== - -Degrees of Freedom: 27 -Actuators: 21 +# Humanoid This simplified humanoid model, introduced in [1], is designed for bipedal locomotion behaviours. While several variants of it exist in the wild, this version is based on the model in the DeepMind Control Suite [2], which has fairly realistic actuator gains. +* Degrees of Freedom: 27 +* Actuators: 21 + +

+ +

+ +## Changelog + +* 02-01-2024: Add more keyframes. +* 27-11-2023: Move humanoid geoms to group 1. +* 05-04-2023: Fix typo in texture size. +* 20-09-2022: Use default class for left_upper_arm geom. +* 17-09-2022: Increase offscreen render buffer resolution of the humanoid to 2560x1440. +* 12-09-2022: + * Increased maximum hip flexion. + * Symmetrised shoulder and ankle joints. + * Added hamstring tendons which couple the hip and knee at large flexion values. + * Moved duplicated values into defaults. + * Added two keyframes. + * Improved lighting. + * Changed naming convention. + +## References + [1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization] (https://doi.org/10.1109/IROS.2012.6386025). [2] [DeepMind Control Suite](https://arxiv.org/abs/1801.00690). - - -![humanoid](humanoid.png)