From b44c02f34cdc44d4dcf626da49aad5021dd2e88e Mon Sep 17 00:00:00 2001
From: budzianowski <budzianowski@gmail.com>
Date: Mon, 9 Dec 2024 00:45:41 -0800
Subject: [PATCH] lower kds

---
 sim/play_old.py             |  7 +++----
 sim/requirements-dev.txt    |  2 +-
 sim/resources/gpr/joints.py | 22 +++++++++++-----------
 3 files changed, 15 insertions(+), 16 deletions(-)

diff --git a/sim/play_old.py b/sim/play_old.py
index 6747abb4..6a16e041 100755
--- a/sim/play_old.py
+++ b/sim/play_old.py
@@ -1,9 +1,8 @@
-# mypy: ignore-errors
 """Play a trained policy in the environment.
 
 Run:
-    python sim/play.py --task g1 --log_h5
-    python sim/play.py --task stompymini --log_h5
+    python sim/play_old.py --task gpr --log_h5
+    python sim/play_old.py --task zeroth --log_h5
 """
 
 import argparse
@@ -145,7 +144,7 @@ def play(args: argparse.Namespace) -> None:
         if args.log_h5:
             dset_actions[t] = actions.detach().numpy()
         if args.fix_command:
-            env.commands[:, 0] = 0.5
+            env.commands[:, 0] = .4
             env.commands[:, 1] = 0.0
             env.commands[:, 2] = 0.0
             env.commands[:, 3] = 0.0
diff --git a/sim/requirements-dev.txt b/sim/requirements-dev.txt
index c55c16ba..3633b810 100755
--- a/sim/requirements-dev.txt
+++ b/sim/requirements-dev.txt
@@ -9,7 +9,7 @@ mediapy==1.2.2
 mujoco==2.3.6
 mujoco_python_viewer==0.1.4
 onnx==1.15.0
-onnxruntime
+onnxruntime==1.15.0
 pandas==1.4.4
 Pillow>6.2.0
 poselib==2.0.4
diff --git a/sim/resources/gpr/joints.py b/sim/resources/gpr/joints.py
index 2a792280..348b3b23 100755
--- a/sim/resources/gpr/joints.py
+++ b/sim/resources/gpr/joints.py
@@ -156,10 +156,10 @@ def default_limits(cls) -> Dict[str, Dict[str, float]]:
     @classmethod
     def stiffness(cls) -> Dict[str, float]:
         return {
-            "hip_y": 120,
-            "hip_x": 60,
-            "hip_z": 60,
-            "knee": 120,
+            "hip_y": 40,
+            "hip_x": 20,
+            "hip_z": 20,
+            "knee": 40,
             "ankle_y": 17,
         }
 
@@ -167,10 +167,10 @@ def stiffness(cls) -> Dict[str, float]:
     @classmethod
     def damping(cls) -> Dict[str, float]:
         return {
-            "hip_y": 10,
+            "hip_y": 5,
             "hip_x": 5,
             "hip_z": 5,
-            "knee": 10,
+            "knee": 5,
             "ankle_y": 5,
         }
 
@@ -178,11 +178,11 @@ def damping(cls) -> Dict[str, float]:
     @classmethod
     def effort(cls) -> Dict[str, float]:
         return {
-            "hip_y": 20,
-            "hip_x": 10,
-            "hip_z": 10,
-            "knee": 20,
-            "ankle_y": 10,
+            "hip_y": 40,
+            "hip_x": 20,
+            "hip_z": 20,
+            "knee": 40,
+            "ankle_y": 17,
         }
 
     # # vel_limits