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Yuval Tassa a86fc66f1a Increase offscreen render buffer resolution of the humanoid to 2560x1440

PiperOrigin-RevId: 475005167
Change-Id: I8cdc2af8e73dc1491b317e5b587333f450f96e87

2022-09-17 05:04:40 -07:00

22_humanoids.xml

Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

2022-03-15 14:04:44 +00:00

humanoid.png

Modifications to humanoid model.

2022-09-12 07:41:17 -07:00

humanoid.xml

Increase offscreen render buffer resolution of the humanoid to 2560x1440

2022-09-17 05:04:40 -07:00

README.md

Modifications to humanoid model.

2022-09-12 07:41:17 -07:00

README.md

Humanoid

Degrees of Freedom: 27 Actuators: 21

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.

[1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization] (https://doi.org/10.1109/IROS.2012.6386025).

[2] DeepMind Control Suite.