Erik Frey
8f9c690c85
Co-authored-by: Baruch Tabanpour <btaba@google.com> PiperOrigin-RevId: 574327508 Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
909 B
909 B
Humanoid
Degrees of Freedom: 27 Actuators: 21
This is a clone of the MuJoCo Humanoid with the following changes:
- Solver switched to CG with 8 iterations
- Explicit contact pairs for feet and ground (compatible with OpenAI Gym Humanoid environment)
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).
