qpos for Humanoid XML

[teresanguyen01]

Intro

Hello, I am a student at Yale, I use MuJoCo for my research on soft robotics simulation.

My setup

I am using Genesis, which is a wrapper of Mujoco.

My question

I want to create an angle array for the humanoid.xml model to move in the same way as my motion capture (mocap) data by setting qpos each time. However, I don't know what the 28 entries in qpos and their units are (e.g., abdomen_z, etc.). I have tried many combinations but to no avail and was wondering what it was. Thanks!

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.