From 092511d1692eab47e8cd599320fe5ecc5de69fcc Mon Sep 17 00:00:00 2001
From: budzianowski <budzianowski@gmail.com>
Date: Sun, 8 Dec 2024 18:39:55 -0800
Subject: [PATCH] update efforts

---
 sim/envs/__init__.py                                |  2 +-
 sim/envs/humanoids/{grp_config.py => gpr_config.py} |  4 ++--
 sim/resources/gpr/joints.py                         |  6 +++---
 sim/resources/gpr/robot_fixed.urdf                  | 12 ++++++------
 4 files changed, 12 insertions(+), 12 deletions(-)
 rename sim/envs/humanoids/{grp_config.py => gpr_config.py} (99%)

diff --git a/sim/envs/__init__.py b/sim/envs/__init__.py
index 13260f07..a3be5361 100755
--- a/sim/envs/__init__.py
+++ b/sim/envs/__init__.py
@@ -13,7 +13,7 @@
 from sim.envs.humanoids.g1_config import G1Cfg, G1CfgPPO
 from sim.envs.humanoids.g1_env import G1FreeEnv
 from sim.envs.humanoids.gpr_env import GprFreeEnv
-from sim.envs.humanoids.grp_config import GprCfg, GprCfgPPO, GprStandingCfg
+from sim.envs.humanoids.gpr_config import GprCfg, GprCfgPPO, GprStandingCfg
 from sim.envs.humanoids.h1_config import H1Cfg, H1CfgPPO
 from sim.envs.humanoids.h1_env import H1FreeEnv
 from sim.envs.humanoids.xbot_config import XBotCfg, XBotCfgPPO
diff --git a/sim/envs/humanoids/grp_config.py b/sim/envs/humanoids/gpr_config.py
similarity index 99%
rename from sim/envs/humanoids/grp_config.py
rename to sim/envs/humanoids/gpr_config.py
index 35a643dc..42bdbe20 100644
--- a/sim/envs/humanoids/grp_config.py
+++ b/sim/envs/humanoids/gpr_config.py
@@ -145,7 +145,7 @@ class ranges:
 
     class rewards:
         # quite important to keep it right
-        base_height_target = 0.63
+        base_height_target = Robot.height
         min_dist = 0.2
         max_dist = 0.5
         # put some settings here for LLM parameter tuning
@@ -219,7 +219,7 @@ class rewards:
         # put some settings here for LLM parameter tuning
         target_joint_pos_scale = 0.17  # rad
         target_feet_height = 0.05  # m
-        cycle_time = 0.64  # sec
+        cycle_time = 0.5  # 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 ccfb301a..149b7f32 100755
--- a/sim/resources/gpr/joints.py
+++ b/sim/resources/gpr/joints.py
@@ -179,10 +179,10 @@ def damping(cls) -> Dict[str, float]:
     def effort(cls) -> Dict[str, float]:
         return {
             "hip_y": 120,
-            "hip_x": 100,
-            "hip_z": 100,
+            "hip_x": 60,
+            "hip_z": 60,
             "knee": 120,
-            "ankle_y": 50,
+            "ankle_y": 17,
         }
 
     # # vel_limits
diff --git a/sim/resources/gpr/robot_fixed.urdf b/sim/resources/gpr/robot_fixed.urdf
index 30b11861..1ff7bb0f 100644
--- a/sim/resources/gpr/robot_fixed.urdf
+++ b/sim/resources/gpr/robot_fixed.urdf
@@ -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="100" velocity="10" lower="-0.34906585" upper="3.1852259" />
+    <limit effort="60" 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="100" velocity="10" lower="-0.34906585" upper="3.1852259" />
+    <limit effort="60" 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="100" velocity="10" lower="-1.5707963" upper="1.5707963" />
+    <limit effort="60" 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="100" velocity="10" lower="-1.5707963" upper="1.5707963" />
+    <limit effort="60" velocity="10" lower="-1.5707963" upper="1.5707963" />
     <axis xyz="0 0 1" />
   </joint>
   <link name="leg2_shell_2">
@@ -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="50" 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="50" 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">