-T.K.- Lab Notes
  • Home
  • Convention Used
  • STM32
    • Getting Started - STM32 Edition
      • Setting up STM32CubeIDE
      • Going Through A Starter Project
      • Changing STM32CubeIDE Settings
      • Pinout Quick Reference
    • Misc
      • Using Nucleo STLink to Flash Off-board Chips
      • Changing STM32 Default Boot Option
      • STM32 Flash Option Byte Recovery
      • STM32 Systick and Timeout in Interrupt Routines
      • Telesky ST-Link V2 Upgrade Firmware
      • Some Performance Measurements on STM32 MCUs
    • System Core
      • Using GPIO on STM32
      • Setting up External Interrupt on STM32
    • Analog
      • Using ADC on STM32
      • ADC Reading Sequence with DMA on STM32
      • Using OPAMP on STM32
      • Using DAC on STM32
    • Timers
      • Using RTC on STM32
      • Using TIM on STM32
    • Connectivity
      • UART
      • USART
        • USART - CAN Dongle (Fixed Size Serializer with Robust Timeout Handling)
      • CAN
      • FDCAN
      • I2C
      • SPI
        • SPI - GC9A01A LCD Screen
        • SPI - RFID
        • SPI - SD Card
      • Ethernet
        • Ethernet - LWIP
        • Ethernet - UDP
        • Ethernet - UDP Multicast
      • USB - FS
      • USB - HS
    • Middleware
      • FreeRTOS
    • Software Pack
      • STMicroelectronics.X-CUBE-AI - Sine Approximator
  • RISC-V / SoC
    • RISC-V: Baremetal From The Ground Up (Chipyard Edition)
    • Quick Start With Chipyard on Ubuntu or WSL
    • PPA
    • Other Chipyard Stuff
      • Debugging OsciArty with JTAG and command line GDB
      • Debugging BearlyML with JTAG and GDB
      • Booting BearlyML With External SPI Flash
      • Setting Up SD / microSD Card for vcu118 Linux Image
      • More Chipyard Stuff
    • A Minimal Chisel Development Environment with Mill
    • Vivado Stuff
      • Installing Xilinx Vivado on Ubuntu 22.04 / 24.04
      • Arty 35T / 100T UART Pins
      • Configuring Vivado DDR MIG on Arty 35T
      • Configuring Vivado DDR MIG on Nexys Video
      • Vivado Generate Flash Config .mcs File From Bitstream
      • Vivado TCL Scripts
    • Adding Custom Instructions to RISC-V GCC Toolchain
    • Kendryte K230 Bringup
      • K230 EVB Board Resource Overview
    • Setting up RISC-V Toolchain on Ubuntu 24.04/22.04
    • Getting Started with Zephyr
      • Getting Start with Zephyr on RISC-V System - Windows
      • Getting Started with Zephyr on RISC-V - Ubuntu
    • C Library Compile Magic
    • Setting up ExecuTorch on Ubuntu 22.04
      • Executorch on ARM
  • Motor Control
    • Recoil FOC Motor Controller
      • 0x00. Theory of Operation
      • 0x01. Components
      • 0x02. Implementation
      • 0x03. Application
    • Recoil Documentation
    • New Controller Board Soldering & Power-on Checklist
    • MJBOTS Moteus setup
    • Failed Attempt on Acceleration- and Velocity-Limited Trajectory Generation
    • Moteus Code Analyze
    • MIT Motor Controller Code Analyze
    • ODrive Setup
    • Setting up Recoil USB-CAN Adapter
      • Setting up Recoil USB-CAN Adapter - Ubuntu
      • Setting up Recoil USB-CAN Adapter - Windows
    • NTC Temperature Sense Resistor Value Calculation
  • ML/RL
    • Setting up NVIDIA Tools
      • Setting up NVIDIA Driver on Ubuntu 22.04 / 20.04
      • Getting Started with NVIDIA Isaac Lab on Ubuntu 22.04 / 24.04
      • Setting up Omniverse on Ubuntu 24.04 (2025 Ver)
      • Creating Custom Training Environment in IsaacLab via Extensions
      • NVIDIA Isaac Gym URDF Import Notes
      • Setting up TensorRT Environment on Ubuntu 22.04 / 20.04
      • Setting up NVIDIA Omniverse Isaac Sim on Ubuntu 22.04 / 20.04
      • Setting up NVIDIA Nsight System and Nsight Compute on Ubuntu 24.04
      • Getting Started with Jetson AGX Orin
        • Getting Started with Jetson Using SDK Manager on Ubuntu 22.04
        • Using Jetson AGX Orin with Provided Ubuntu 20.04 System
        • Setting up Common Software on Jetson AGX Orin
        • Solving USB-CAN and USB CH340 Driver Issue on reComputer Mini J4012
        • [Deprecated] Upgrading Jetson AGX Orin to Ubuntu 22.04
      • Solving Torch Errors
      • [Deprecated] Setting up NVIDIA Isaac Gym on Ubuntu 22.04 / 20.04
    • RL Frameworks
      • Case Study: A Dive Into LeggedGym and RSL-RL Framework
      • Case Study: A Dive Into IsaacLab
      • Getting Started with Mujoco
      • Case Study: A Dive Into Unitree-Mujoco
      • Case Study: Setting up Berkeley Humanoid
      • Case Study: Looking into robot_lab
      • Case Study: Setting up RL-SAR
      • Case Study: Getting Started with LeRobot
      • Case Study: No-Mercy Project
        • Python Mouse and Keyboard Interaction in Game Environment
        • Detecting Phara
      • OpenAI gym + Mujoco Setup
      • Gazebo Setup
    • ROS
      • Setting up ROS on Ubuntu 20.04
      • Setting up ETH ANYbotics/elevation_mapping on Ubuntu 20.04
    • ROS 2
      • Setting up ROS 2 Humble Hawksbill on Ubuntu
      • Setting up ROS 2 Humble Hawksbill on Windows 10
      • ROS 2 Issue in Ubuntu with conda
    • Google Colab
      • Colab Resource Options
      • so-vits-svc 4.0: Colab Flow
    • URDF to MJCF Mujoco Notes
    • OnShape to URDF
    • Audio Stuff
      • Microsoft TTS
      • GPTSoVITS
      • 深入浅出理解 So-VITS-SVC 原理
      • NAI-SVC Experiment Log
      • Setting up ChatTTS on Ubuntu 22.04
    • Setting up AnythingLLM on Ubuntu 22.04
    • Setting up MineDojo Environment
    • Processing the SFU Motion Capture Dataset
    • Torch Profiling
    • Setting up Unitree A1
  • 3D Modeling
    • 3D Print Tolerancing
    • Blender to OnShape Workflow
    • Onshape to Blender Workflow
    • Setting up FBX Plugin for Python on Ubuntu 22.04
    • Install Blender on Ubuntu 22.04
    • Blender Python Related
    • VRoid, MMD, Blender Workflow
  • Tools
    • Windows
      • Install WSL 2
      • Install Make on Windows
      • Remove EFI disk partition
      • SAI Color Flip/Color Inversion
      • Microsoft Visual Studio Create Software Signature
      • Connecting the SIGLENT SDS1104X-U Oscilloscope to Computer
      • Using JADENS Thermal Label Printer
      • Getting Started with XBee (ZigBee)
    • Ubuntu
      • Ubuntu 22.04 Standard Installation Procedure
      • Protobuf
      • Setting up Docker on Ubuntu 22.04
      • Linux Mounting SD Card
      • Partitioning SD card
      • Windows Ubuntu Dual Boot Issues
      • Check Disk / Folder / File Size
      • Test Disk Read/Write Speed
      • Cannot Start Chrome in Ubuntu 22.04 After Changing Network Settings
      • Configure USB Access Permissions (udev rules) on Ubuntu
      • Screen Commands
      • Disabling the "<Application> is not responding." System Message on Ubuntu
      • Install and Configure GlobalProtect UC Berkeley VPN Service on Ubuntu 22.04
      • Solving Gamepad not Detected on Ubuntu 22.04
      • Using 3DConnexion Mouse on Ubuntu with Python
      • Install Cursor the AI Editor on Ubuntu 22.04/24.04
      • Solving the .nfsXXX file cannot be deleted issue
      • Windows Remote Desktop Issues
      • nsswitch.conf
    • Lab Automation
    • Github-Related Info
    • Python
      • Publish Python Package to PyPi
      • Python Logging Utility
      • Python converting bettwen JSON and XML
      • Retrieve Github user avatar with Github API
      • Jupyter Notebook Error
    • Raspberry Pi Setup
    • Clang-Format Style Config
    • CrazyFlie Setting Up
    • Using Oscilloscope: x1 vs x10
    • Using the BWRC 3D Printer
    • Using the Leica Microscope at BWRC
    • Pair XBoxController to Raspberry Pi with Bluetooth
    • Reading FrSky Transmitter SBUS data with STM32
    • Configuring the FrSky TARANIS X9D Plus 2019 RC Controller
    • Applying Notion for Education
    • Gitbook Errata
    • Setting up SteamVR without HMD
    • CMake Best Practices
    • Adobe Premiere Pro Audio Level Settings
  • Mechanical
    • MAD Cycloidal Actuator
    • Dog Stuff
      • Fixing the Unitree A1 Robot Dog Leg Motor
      • Fixing the Unitree A1 Robot Dog Ethernet Port
      • Fixing MIT Mini Cheetah
      • Fixing the Unitree Go1 Robot Dog Ethernet Port
    • 3D Printer Profile
  • Electrical
    • A Note on the Polarity of the Famous TT Motor
    • Wiring Pinmap Convention
    • MCU Pinmap Convention
    • PCB Design and Manufacturing Conventions
    • ESP32 Cam
    • LiPo Safety
    • AS5600 Modification
    • OpenOCD and FTDI Chips
    • FT-LINK FTDI Debugger Design Considerations
    • A Study on Reset Pin Connection
    • Note on CAN Termination Resistor
  • UW
    • Digital-Twin Communication System
    • Unreal Engine Communicate with SteamVR
    • Unreal Engine Socket Communication
    • A Note on Coordinate Systems
    • NewLine Serialization Method
    • Humanoid Design Notes
      • Robot Body Ratio Issue
      • VRM Parameters
      • Note on Face Design and Manufacture
  • Workflow Automation
    • RISC-V Toolbox Website
    • Zigbee-Based Home Automation
      • Setting up Home Assistant on Raspberry Pi to Control Zigbee IoT Devices
      • Update Sonoff Zigbee 3.0 USB Dongle Plus (CC2652P)
  • Finance
    • Finance
    • UC Berkeley Reimbursement
  • Life
    • Some Interview Questions
    • Health Insurance
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  1. UW
  2. Humanoid Design Notes

Robot Body Ratio Issue

Last updated 1 year ago

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尽管已经在 VRoid 里面调整过了，但真实的 Human Body Scale 和 Anime 的仍有些差距

可以看到主要的差别在腿长和肩宽上，但 Real Human Body 的 scale 又有些呆了，所以打算微调一下，希望这样不会影响控制效果

比例.

参考图
RealWorld Scale
Adjusted Scale