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Yuval Tassa 5004a4c8c5 Better memory setting and reporting, updated example models.

- Memory heuristic rounds up to the nearest MB.
- `simulate` reports total memory currently allocated in the info box.
- All example models use `<size memory/>` rather than legacy attributes.
- Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples).
- `<size>` top-level section does not get written if empty.

PiperOrigin-RevId: 486702670
Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8

2022-11-07 10:36:37 -08:00

22_humanoids.xml

Better memory setting and reporting, updated example models.

2022-11-07 10:36:37 -08:00

humanoid.png

Modifications to humanoid model.

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

humanoid.xml

Minor fix to Humanoid model

2022-09-20 18:20:45 +09:00

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.