From e44ad56d0e4a0afb1ffbbb671e96bc2c66c47faa Mon Sep 17 00:00:00 2001
From: budzianowski <budzianowski@gmail.com>
Date: Sun, 15 Dec 2024 11:26:31 -0800
Subject: [PATCH] trimesh works as well

---
 Makefile                         | 2 ++
 sim/envs/base/legged_robot.py    | 2 +-
 sim/envs/humanoids/gpr_config.py | 8 ++++----
 3 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/Makefile b/Makefile
index f2b5e1b..7e9c682 100755
--- a/Makefile
+++ b/Makefile
@@ -43,10 +43,12 @@ play:
 # ------------------------ #
 
 install:
+	@pip install torch==2.3.1 torchvision==0.18.1 torchaudio==2.3.1 --index-url https://download.pytorch.org/whl/cu121
 	@pip install --verbose -e .
 .PHONY: install
 
 install-dev:
+	@pip install torch==2.3.1 torchvision==0.18.1 torchaudio==2.3.1 --index-url https://download.pytorch.org/whl/cu121
 	@pip install --verbose -e '.[dev]'
 .PHONY: install
 
diff --git a/sim/envs/base/legged_robot.py b/sim/envs/base/legged_robot.py
index 660bbf1..cb3bdf6 100644
--- a/sim/envs/base/legged_robot.py
+++ b/sim/envs/base/legged_robot.py
@@ -580,7 +580,7 @@ def _init_buffers(self):
                 self.p_gains[:, i] = 0.0
                 self.d_gains[:, i] = 0.0
                 raise ValueError(f"PD gain of joint {name} were not defined, setting them to zero")
-            
+
         self.rand_push_force = torch.zeros((self.num_envs, 3), dtype=torch.float32, device=self.device)
         self.rand_push_torque = torch.zeros((self.num_envs, 3), dtype=torch.float32, device=self.device)
         self.default_dof_pos = self.default_dof_pos.unsqueeze(0)
diff --git a/sim/envs/humanoids/gpr_config.py b/sim/envs/humanoids/gpr_config.py
index 70d5445..c59372d 100644
--- a/sim/envs/humanoids/gpr_config.py
+++ b/sim/envs/humanoids/gpr_config.py
@@ -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
@@ -186,8 +186,8 @@ class scales:
             # energy
             action_smoothness = -0.002
             torques = -1e-5
-            dof_vel = -5e-4 # -1e-3
-            dof_acc = -1e-7 # -2.5e-7
+            dof_vel = -5e-4  # -1e-3
+            dof_acc = -1e-7  # -2.5e-7
             collision = -1.0
 
     class normalization: