From 73dee0ca41a61c9df4eb7e52d2bce0bdd76cec6c Mon Sep 17 00:00:00 2001
From: budzianowski <budzianowski@gmail.com>
Date: Sun, 8 Dec 2024 20:31:19 -0800
Subject: [PATCH] update to even lower efforts

---
 sim/envs/humanoids/gpr_config.py   |  2 +-
 sim/resources/gpr/joints.py        | 10 +++++-----
 sim/resources/gpr/robot_fixed.urdf | 20 ++++++++++----------
 3 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/sim/envs/humanoids/gpr_config.py b/sim/envs/humanoids/gpr_config.py
index 041a8426..91d66d7f 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 = 0.6
+        torque_limit = 1.0
 
     class asset(LeggedRobotCfg.asset):
         name = "gpr"
diff --git a/sim/resources/gpr/joints.py b/sim/resources/gpr/joints.py
index 65d7e356..b6c83812 100755
--- a/sim/resources/gpr/joints.py
+++ b/sim/resources/gpr/joints.py
@@ -178,11 +178,11 @@ def damping(cls) -> Dict[str, float]:
     @classmethod
     def effort(cls) -> Dict[str, float]:
         return {
-            "hip_y": 120,
-            "hip_x": 60,
-            "hip_z": 60,
-            "knee": 120,
-            "ankle_y": 26,
+            "hip_y": 40,
+            "hip_x": 20,
+            "hip_z": 20,
+            "knee": 40,
+            "ankle_y": 17,
         }
 
     # # vel_limits
diff --git a/sim/resources/gpr/robot_fixed.urdf b/sim/resources/gpr/robot_fixed.urdf
index 9043495a..c1e2aef7 100644
--- a/sim/resources/gpr/robot_fixed.urdf
+++ b/sim/resources/gpr/robot_fixed.urdf
@@ -95,7 +95,7 @@
     <origin xyz="-0.008010608503738428 -0.43201043179234816 0.0877000068648673" rpy="-3.1415925071795874 4.641020678874952e-08 -3.1415926535897913" />
     <parent link="body1-part" />
     <child link="leg0_shell" />
-    <limit effort="120" velocity="10" lower="-1.5707963" upper="1.5707963" />
+    <limit effort="40" velocity="10" lower="-1.5707963" upper="1.5707963" />
     <axis xyz="0 0 -1" />
   </joint>
   <link name="leg0_shell">
@@ -124,7 +124,7 @@
     <origin xyz="-0.008010600340183055 -0.4320104467591277 -0.08819999313513187" rpy="9.99999991702083e-08 4.641020678874952e-08 -3.1415926535897913" />
     <parent link="body1-part" />
     <child link="leg0_shell_2" />
-    <limit effort="120" velocity="10" lower="-1.5707963" upper="1.5707963" />
+    <limit effort="40" velocity="10" lower="-1.5707963" upper="1.5707963" />
     <axis xyz="0 0 -1" />
   </joint>
   <link name="leg0_shell_2">
@@ -211,7 +211,7 @@
     <origin xyz="0.02649999999999997 -1.5165911463888016e-09 -0.06950000151659115" rpy="-1.5707963 0.0 1.5707963" />
     <parent link="leg0_shell" />
     <child link="leg1_shell" />
-    <limit effort="60" velocity="10" lower="-0.34906585" upper="3.1852259" />
+    <limit effort="20" velocity="10" lower="-0.34906585" upper="3.1852259" />
     <axis xyz="0 0 1" />
   </joint>
   <link name="leg1_shell">
@@ -240,7 +240,7 @@
     <origin xyz="0.02649999999999997 -1.5165911463888016e-09 -0.06950000151659115" rpy="1.5707963 -4.641020634466031e-08 -1.5707963535897922" />
     <parent link="leg0_shell_2" />
     <child link="leg1_shell3" />
-    <limit effort="60" velocity="10" lower="-0.34906585" upper="3.1852259" />
+    <limit effort="20" velocity="10" lower="-0.34906585" upper="3.1852259" />
     <axis xyz="0 0 1" />
   </joint>
   <link name="leg1_shell3">
@@ -327,7 +327,7 @@
     <origin xyz="-0.15649999999999997 0.0 0.027499998483408852" rpy="-0.0 1.5707963 0.0" />
     <parent link="leg1_shell" />
     <child link="leg2_shell" />
-    <limit effort="60" velocity="10" lower="-1.5707963" upper="1.5707963" />
+    <limit effort="20" velocity="10" lower="-1.5707963" upper="1.5707963" />
     <axis xyz="0 0 1" />
   </joint>
   <link name="leg2_shell">
@@ -356,7 +356,7 @@
     <origin xyz="-0.15649999999999997 0.0 0.027499998483408852" rpy="-3.1415926535897922 -1.5707962732050302 0.0" />
     <parent link="leg1_shell3" />
     <child link="leg2_shell_2" />
-    <limit effort="60" velocity="10" lower="-1.5707963" upper="1.5707963" />
+    <limit effort="20" velocity="10" lower="-1.5707963" upper="1.5707963" />
     <axis xyz="0 0 1" />
   </joint>
   <link name="leg2_shell_2">
@@ -443,7 +443,7 @@
     <origin xyz="0.0 0.0342 -0.14250000009378214" rpy="1.5707963000000003 0.0 0.0" />
     <parent link="leg2_shell" />
     <child link="leg3_shell2" />
-    <limit effort="120" velocity="10" lower="-1.57" upper="0" />
+    <limit effort="40" velocity="10" lower="-1.57" upper="0" />
     <axis xyz="0 0 1" />
   </joint>
   <link name="leg3_shell2">
@@ -472,7 +472,7 @@
     <origin xyz="0.0 0.0342 -0.14250000009378214" rpy="1.5707963000000003 0.0 0.0" />
     <parent link="leg2_shell_2" />
     <child link="leg3_shell22" />
-    <limit effort="120" velocity="10" lower="0" upper="1.57" />
+    <limit effort="40" velocity="10" lower="0" upper="1.57" />
     <axis xyz="0 0 1" />
   </joint>
   <link name="leg3_shell22">
@@ -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="26" velocity="10" lower="-0.6981317" upper="0.6981317" />
+    <limit effort="17" 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="26" velocity="10" lower="-0.6981317" upper="0.6981317" />
+    <limit effort="17" velocity="10" lower="-0.6981317" upper="0.6981317" />
     <axis xyz="0 0 -1" />
   </joint>
   <link name="foot1">