Mujoco_WASM/model/humanoid/README.md

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.

[2] DeepMind Control Suite.