Table 1 Model parameters of a humanoid agent in Isaac Gym.

From: Self-organizing neural network for reproducing human postural mode alternation through deep reinforcement learning

Weight

40.15 kg

Height

1.57 m

Position of CoM

[0.006, 0, 0.814] m

Constrained range of hips

(-120, 45) deg on y-axis

Constrained range of ankles

(-50, 50) deg on y-axis

Maximum output torques of joints

(-100, 100) Nm

Position of target

[x, 0, 1.7] m

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