Files

T

Saran Tunyasuvunakool 55cc9d1e95 Fix what appears to be a typo in humanoid texture size.

Note that for builtin cube textures, MuJoCo ignores the height setting anyway.

PiperOrigin-RevId: 522000719
Change-Id: Ida34b1b2d25a59ac3f4f111aa44218aa9cd9da30

2023-04-05 03:07:22 -07:00

22_humanoids.xml

Fix what appears to be a typo in humanoid texture size.

2023-04-05 03:07:22 -07:00

humanoid.png

Modifications to humanoid model.

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

humanoid.xml

Fix what appears to be a typo in humanoid texture size.

2023-04-05 03:07:22 -07:00

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.