Mujoco_WASM/mjx/mujoco/mjx/test_data/humanoid

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).

[2] DeepMind Control Suite.