Alessio Quaglino
27b9ddda5b
PiperOrigin-RevId: 651117953 Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
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
- 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.
- 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.