standing with 0 hip pitch or 0 hip yaw

kscalelabs · Jul 22, 2024 · 245f337 · 245f337
1 parent 840ca4e
commit 245f337
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/sim/humanoid_gym/sims2sim.py b/sim/humanoid_gym/sims2sim.py
@@ -211,12 +211,12 @@ class sim_config:
             mujoco_model_path = f'sim/stompy_legs/robot_fixed.xml'
             sim_duration = 60.0
             dt = 0.001
-            decimation = 10
+            decimation = 1
         # pfb30 - todo this should be update more often
         class robot_config:
-            kp_factor = 10
+            kp_factor = 1
             kd_factor = 1
-            tau_factor = 0.85
+            tau_factor = 1
             tau_limit = np.array(list(Stompy.stiffness().values()) + list(Stompy.stiffness().values())) * tau_factor
             kps = tau_limit * kp_factor
             kds = np.array(list(Stompy.damping().values()) + list(Stompy.damping().values())) * kd_factor

diff --git a/sim/stompy_legs/robot_fixed.xml b/sim/stompy_legs/robot_fixed.xml
@@ -2,7 +2,7 @@
 <mujoco model="lower_limbs">
   <compiler angle="radian" meshdir="meshes" autolimits="true" eulerseq="zyx"/>
   <default>
-    <joint limited="true" damping="0.01" armature="0.01" frictionloss="0.01"/>
+    <joint limited="true" damping="10" armature="0.01" frictionloss="0.01"/>
     <motor ctrllimited="true"/>
     <geom condim="4" contype="1" conaffinity="15" friction="0.9 0.2 0.2" solref="0.001 2"/>
     <equality solref="0.001 2"/>