Humanoid Standup Environment

Tunable Parameters

Parameter

Description

Default Value

gravity

Global gravitational acceleration

[ 0. 0. -9.81]

torso_mass

Mass of the torso

8.907462370478262

lwaist_mass

Mass of the left waist

2.261946710584651

pelvis_mass

Mass of the pelvis

6.616194128460103

right_thigh_mass

Mass of the right thigh

4.751750928806241

left_thigh_mass

Mass of the left thigh

4.751750928806241

right_shin_mass

Mass of the right shin

2.7556961671836424

left_shin_mass

Mass of the left shin

2.7556961671836424

right_foot_mass

Mass of the right foot

1.7671458676442586

left_foot_mass

Mass of the left foot

1.7671458676442586

right_upper_arm_mass

Mass of the right upper arm

1.6610804848382084

left_upper_arm_mass

Mass of the left upper arm

1.6610804848382084

right_lower_arm_mass

Mass of the right lower arm

1.2295401928310803

left_lower_arm_mass

Mass of the left lower arm

1.2295401928310803

floor_friction

Friction coefficient of the floor

1.0

right_knee_damping

Damping coefficient of the right knee joint

5.0

left_knee_damping

Damping coefficient of the left knee joint

5.0

right_elbow_damping

Damping coefficient of the right elbow joint

5.0

left_elbow_damping

Damping coefficient of the left elbow joint

1.0