From 57fcfea6527ae5237ff7b06faf20282f451e5c0c Mon Sep 17 00:00:00 2001
From: budzianowski <budzianowski@gmail.com>
Date: Sun, 8 Dec 2024 19:29:03 -0800
Subject: [PATCH] update values

---
 sim/envs/humanoids/gpr_config.py   |  8 ++++----
 sim/resources/gpr/joints.py        | 12 ++++++------
 sim/resources/gpr/robot_fixed.urdf |  4 ++--
 3 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/sim/envs/humanoids/gpr_config.py b/sim/envs/humanoids/gpr_config.py
index c565f6f..041a842 100644
--- a/sim/envs/humanoids/gpr_config.py
+++ b/sim/envs/humanoids/gpr_config.py
@@ -30,7 +30,7 @@ class safety(LeggedRobotCfg.safety):
         # safety factors
         pos_limit = 1.0
         vel_limit = 1.0
-        torque_limit = 0.85
+        torque_limit = 0.6
 
     class asset(LeggedRobotCfg.asset):
         name = "gpr"
@@ -51,8 +51,8 @@ class asset(LeggedRobotCfg.asset):
         fix_base_link = False
 
     class terrain(LeggedRobotCfg.terrain):
-        # mesh_type = "plane"
-        mesh_type = "trimesh"
+        mesh_type = "plane"
+        # mesh_type = "trimesh"
         curriculum = False
         # rough terrain only:
         measure_heights = False
@@ -152,7 +152,7 @@ class rewards:
         target_joint_pos_scale = 0.17  # rad
         target_feet_height = 0.05  # m
 
-        cycle_time = 0.5  # sec
+        cycle_time = 0.25  # sec
         # if true negative total rewards are clipped at zero (avoids early termination problems)
         only_positive_rewards = True
         # tracking reward = exp(error*sigma)
diff --git a/sim/resources/gpr/joints.py b/sim/resources/gpr/joints.py
index 5ea7454..65d7e35 100755
--- a/sim/resources/gpr/joints.py
+++ b/sim/resources/gpr/joints.py
@@ -156,11 +156,11 @@ def default_limits(cls) -> Dict[str, Dict[str, float]]:
     @classmethod
     def stiffness(cls) -> Dict[str, float]:
         return {
-            "hip_y": 240,
-            "hip_x": 120,
-            "hip_z": 120,
-            "knee": 240,
-            "ankle_y": 34,
+            "hip_y": 120,
+            "hip_x": 60,
+            "hip_z": 60,
+            "knee": 120,
+            "ankle_y": 17,
         }
 
     # d_gains
@@ -182,7 +182,7 @@ def effort(cls) -> Dict[str, float]:
             "hip_x": 60,
             "hip_z": 60,
             "knee": 120,
-            "ankle_y": 17,
+            "ankle_y": 26,
         }
 
     # # vel_limits
diff --git a/sim/resources/gpr/robot_fixed.urdf b/sim/resources/gpr/robot_fixed.urdf
index 1ff7bb0..9043495 100644
--- a/sim/resources/gpr/robot_fixed.urdf
+++ b/sim/resources/gpr/robot_fixed.urdf
@@ -559,7 +559,7 @@
     <origin xyz="1.0767167917674625e-08 -0.29999999865410376 0.027200000000000002" rpy="-3.1415926071795868 2.220446049250313e-16 -3.1415926071795868" />
     <parent link="leg3_shell22" />
     <child link="foot3" />
-    <limit effort="17" velocity="10" lower="-0.6981317" upper="0.6981317" />
+    <limit effort="26" velocity="10" lower="-0.6981317" upper="0.6981317" />
     <axis xyz="0 0 1" />
   </joint>
   <link name="foot3">
@@ -588,7 +588,7 @@
     <origin xyz="0.0 -0.30000000004641003 0.07019999118206069" rpy="9.282041357749903e-08 0.0 0.0" />
     <parent link="leg3_shell2" />
     <child link="foot1" />
-    <limit effort="17" velocity="10" lower="-0.6981317" upper="0.6981317" />
+    <limit effort="26" velocity="10" lower="-0.6981317" upper="0.6981317" />
     <axis xyz="0 0 -1" />
   </joint>
   <link name="foot1">