From fa8be99c1f883cf166744e59e8cad6436b918cde Mon Sep 17 00:00:00 2001
From: is2ac2 <wlight@emory.edu>
Date: Thu, 18 Jul 2024 14:28:51 -0700
Subject: [PATCH] current version

---
 sim/deploy/policy.py                      |  2 +-
 sim/deploy/run.py                         | 16 ++++---
 sim/humanoid_gym/envs/only_legs_config.py | 43 ++++++++---------
 sim/stompy_legs/joints.py                 | 46 +++++++++---------
 sim/stompy_legs/robot_fixed.xml           | 58 ++++++++++++-----------
 5 files changed, 84 insertions(+), 81 deletions(-)

diff --git a/sim/deploy/policy.py b/sim/deploy/policy.py
index 41500c23..938a41c5 100755
--- a/sim/deploy/policy.py
+++ b/sim/deploy/policy.py
@@ -112,7 +112,7 @@ def pd_control(
         # breakpoint()
         res = ( (target_dof_pos - dof_pos) * kp + (target_dof_vel - dof_vel) * kd )
         # breakpoint()
-        return res * 0.75
+        return res * 0.0025
 
     def parse_action(
         self, dof_pos: np.ndarray, dof_vel: np.ndarray, eu_ang: np.ndarray, ang_vel: np.ndarray, count_lowlevel: int
diff --git a/sim/deploy/run.py b/sim/deploy/run.py
index f4e4aa22..18bdb4f6 100755
--- a/sim/deploy/run.py
+++ b/sim/deploy/run.py
@@ -88,7 +88,7 @@ def step(
             dq: The current joint velocities.
             target_dq: The target joint velocities (optional).
         """
-        # tau = np.clip(tau, -self.cfg.tau_limit, self.cfg.tau_limit)
+        tau = np.clip(tau, -self.cfg.tau_limit, self.cfg.tau_limit)
         self.data.ctrl = tau
         mujoco.mj_step(self.model, self.data)
 
@@ -136,6 +136,8 @@ def simulate(self, policy: SimPolicy) -> None:
                 # target_dof_pos = np.zeros_like(target_dof_pos)
                 tau = policy.pd_control(target_dof_pos, dof_pos, cfg.kps, dof_vel, cfg.kds)
                 # breakpoint()
+                if step % 1000 == 0:
+                    breakpoint()
                 # set tau to zero for now
                 # tau = np.zeros_like(tau)
                 self.step(tau=tau)
@@ -273,12 +275,12 @@ def main(args: argparse.Namespace, cfg: RobotConfig) -> None:
     num_single_obs = dof * 3 + 11
 
     # is2ac, lets scale kps and kds to be the same as our stiffness and dmaping
-    kps = np.ones((dof), dtype=np.double) * 0.00001 * 25
-    kds = np.ones((dof), dtype=np.double) * 1
-    tau_limit = np.ones((dof), dtype=np.double) * 0.00001 * 25
-    # kps = np.ones((dof), dtype=np.double) * 200
-    # kds = np.ones((dof), dtype=np.double) * 10
-    # tau_limit = np.ones((dof), dtype=np.double) * 200
+    # kps = np.ones((dof), dtype=np.double)
+    # kds = np.ones((dof), dtype=np.double) * 1
+    # tau_limit = np.ones((dof), dtype=np.double)
+    kps = np.ones((dof), dtype=np.double) * 200
+    kds = np.ones((dof), dtype=np.double) * 10
+    tau_limit = np.ones((dof), dtype=np.double) * 200
 
     cfg = RobotConfig(
         robot_model_path=robot_path, dof=dof, kps=kps, kds=kds, tau_limit=tau_limit, num_single_obs=num_single_obs
diff --git a/sim/humanoid_gym/envs/only_legs_config.py b/sim/humanoid_gym/envs/only_legs_config.py
index 70a46b3a..9ebf5ce9 100755
--- a/sim/humanoid_gym/envs/only_legs_config.py
+++ b/sim/humanoid_gym/envs/only_legs_config.py
@@ -117,10 +117,10 @@ class control(LeggedRobotCfg.control):
             "ankle": 10,
             "knee": 10,
         }
-        for k in stiffness:
-            stiffness[k] *= 0.00001
-            damping[k] *= 0.1
-        action_scale = 2500
+        # for k in stiffness:
+        #     stiffness[k] *= 0.00001
+        #     damping[k] *= 0.1
+        action_scale = 0.25
         # decimation: Number of control action updates @ sim DT per policy DT
         decimation = 10  # 100hz
 
@@ -135,7 +135,7 @@ class physx(LeggedRobotCfg.sim.physx):
             num_position_iterations = 4
             num_velocity_iterations = 1
             contact_offset = 0.01  # [m]
-            rest_offset = 0.0  # -0.02  # [m]
+            rest_offset = 0  # -0.02  # [m]
             bounce_threshold_velocity = 0.1  # [m/s]
             max_depenetration_velocity = 1.0
             max_gpu_contact_pairs = 2**23  # 2**24 -> needed for 8000 envs and more
@@ -190,22 +190,22 @@ class rewards:
 
         class scales:
             # reference motion tracking
-            # joint_pos = 1.6
-            # feet_clearance = 1.0
-            # feet_contact_number = 1.2
-            # # gait
-            # feet_air_time = 1.0
-            # foot_slip = -0.05
-            # feet_distance = 0.2
-            # knee_distance = 0.2
-            # # contact
-            # feet_contact_forces = -0.01
-            # # vel tracking
-            # tracking_lin_vel = 1.2
-            # tracking_ang_vel = 1.1
-            # vel_mismatch_exp = 0.5  # lin_z; ang x,y
-            # low_speed = 0.2
-            # track_vel_hard = 0.5
+            joint_pos = 1.6
+            feet_clearance = 1.0
+            feet_contact_number = 1.2
+            # gait
+            feet_air_time = 1.0
+            foot_slip = -0.05
+            feet_distance = 0.2
+            knee_distance = 0.2
+            # contact
+            feet_contact_forces = -0.01
+            # vel tracking
+            tracking_lin_vel = 1.2
+            tracking_ang_vel = 1.1
+            vel_mismatch_exp = 0.5  # lin_z; ang x,y
+            low_speed = 0.2
+            track_vel_hard = 0.5
 
             # above this was removed for standing policy
             # base pos
@@ -223,7 +223,6 @@ class scales:
 
     class normalization:
         class obs_scales:
-            # is2ac
             lin_vel = 2.0
             ang_vel = 1.0
             dof_pos = 1.0
diff --git a/sim/stompy_legs/joints.py b/sim/stompy_legs/joints.py
index 4c3f0007..4e4be441 100755
--- a/sim/stompy_legs/joints.py
+++ b/sim/stompy_legs/joints.py
@@ -86,31 +86,31 @@ def default_positions(cls) -> Dict[str, float]:
     def default_standing(cls) -> Dict[str, float]:
         return {
             # legs
-            Stompy.legs.right.hip_pitch: 0,
-            Stompy.legs.right.hip_yaw: -2.15,
-            Stompy.legs.right.hip_roll: -1.6,
-            Stompy.legs.right.knee_pitch: 2.16,
-            Stompy.legs.right.ankle_pitch: 0.5,
-            Stompy.legs.right.ankle_roll: 1.72,
-            Stompy.legs.left.hip_pitch: 1.61,
-            Stompy.legs.left.hip_yaw: 1,
-            Stompy.legs.left.hip_roll: 0,
-            Stompy.legs.left.knee_pitch: 2.05,
-            Stompy.legs.left.ankle_pitch: 0.33,
-            Stompy.legs.left.ankle_roll: 1.73,
-            # legs in squat
-            # Stompy.legs.left.hip_pitch: 1.17,
-            # Stompy.legs.left.hip_roll: 0.1,
-            # Stompy.legs.left.hip_yaw: 1.03,
-            # Stompy.legs.left.knee_pitch: 1.13,
-            # Stompy.legs.left.ankle_pitch: -0.27,
-            # Stompy.legs.left.ankle_roll: 1.73,
-            # Stompy.legs.right.hip_pitch: 0.38,
-            # Stompy.legs.right.hip_roll: -1.6,
+            # Stompy.legs.right.hip_pitch: 0,
             # Stompy.legs.right.hip_yaw: -2.15,
-            # Stompy.legs.right.knee_pitch: 2.94,
-            # Stompy.legs.right.ankle_pitch: 0.8,
+            # Stompy.legs.right.hip_roll: -1.6,
+            # Stompy.legs.right.knee_pitch: 2.16,
+            # Stompy.legs.right.ankle_pitch: 0.5,
             # Stompy.legs.right.ankle_roll: 1.72,
+            # Stompy.legs.left.hip_pitch: 1.61,
+            # Stompy.legs.left.hip_yaw: 1,
+            # Stompy.legs.left.hip_roll: 0,
+            # Stompy.legs.left.knee_pitch: 2.05,
+            # Stompy.legs.left.ankle_pitch: 0.33,
+            # Stompy.legs.left.ankle_roll: 1.73,
+            # legs in squat
+            Stompy.legs.left.hip_pitch: 1.17,
+            Stompy.legs.left.hip_roll: 0.1,
+            Stompy.legs.left.hip_yaw: 1.03,
+            Stompy.legs.left.knee_pitch: 1.13,
+            Stompy.legs.left.ankle_pitch: -0.27,
+            Stompy.legs.left.ankle_roll: 1.73,
+            Stompy.legs.right.hip_pitch: 0.38,
+            Stompy.legs.right.hip_roll: -1.6,
+            Stompy.legs.right.hip_yaw: -2.15,
+            Stompy.legs.right.knee_pitch: 2.94,
+            Stompy.legs.right.ankle_pitch: 0.8,
+            Stompy.legs.right.ankle_roll: 1.72,
         }
 
     @classmethod
diff --git a/sim/stompy_legs/robot_fixed.xml b/sim/stompy_legs/robot_fixed.xml
index 5948e954..bb889a10 100644
--- a/sim/stompy_legs/robot_fixed.xml
+++ b/sim/stompy_legs/robot_fixed.xml
@@ -1,22 +1,24 @@
 <?xml version="1.0" ?>
 <mujoco model="lower_limbs">
-  <compiler angle="radian" meshdir="meshes" autolimits="true"/>
+  <compiler angle="radian" meshdir="meshes" autolimits="true" eulerseq="zyx"/>
   <default>
       <!-- <joint limited="true" damping="1" armature="0.01" frictionloss="0.0"/> is2ac -->
     <joint limited="true" damping="0.01" frictionloss="0.01" armature="0.01"/>
-    <geom condim="3" contype="1" conaffinity="0" friction="0.9 0.2 0.2" solref="0.001 2"/>
     <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"/>
+
     <default class="visualgeom">
-      <geom material="visualgeom" condim="3" contype="0" conaffinity="0"/>
-    </default>
-    <default class="collision">
-      <geom type="capsule" mass="0" density="0" condim="3" contype="1" conaffinity="1" group="3" />
+      <geom material="visualgeom" condim="1" contype="0" conaffinity="0"/>
     </default>
   </default>
-  <option iterations="50" timestep="0.001" viscosity="1e-06" solver="PGS" gravity="0 0 -9.81">
-    <flag frictionloss="enable"/>
+
+  <option iterations="50" timestep="0.001" solver="PGS" gravity="0 0 -9.81">
+    <flag sensornoise="enable" frictionloss="enable"/>
   </option>
+
+
   <asset>
     <mesh name="leg_assembly_left_1_leg_part_1_2_simple" file="leg_assembly_left_1_leg_part_1_2_simple.stl"/>
     <mesh name="leg_assembly_right_1_leg_part_1_2_simple" file="leg_assembly_right_1_leg_part_1_2_simple.stl"/>
@@ -69,10 +71,10 @@
     <material name="visualgeom" rgba="0.5 0.9 0.2 1"/>
   </asset>
   <worldbody>
-    <geom name="ground" type="plane" pos="0.001 0 0" quat="1 0 0 0" material="matplane" condim="3" contype="0" conaffinity="1" size="0 0 1"/>
+    <geom name="ground" type="plane" pos="0.001 0 0" quat="1 0 0 0" material="matplane" size="0 0 1" condim="1" conaffinity='15'/>
     <light directional="true" diffuse="0.6 0.6 0.6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
     <light directional="true" diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
-    <body name="root" pos="0 0 1.0" quat="1 0 0 0">
+    <body name="root" pos="0 0 0.71" quat="1 0 0 0">
       <joint name="root_x" type="slide" axis="1 0 0" limited="false"/>
       <joint name="root_y" type="slide" axis="0 1 0" limited="false"/>
       <joint name="root_z" type="slide" axis="0 0 1" limited="false"/>
@@ -91,7 +93,7 @@
       <!-- Left Leg-->
       <body name="link_leg_assembly_left_1_rmd_x12_150_mock_1_inner_x12_150_1" pos="0.0235013 -9.74565e-08 -0.0519759" quat="-3.53553e-08 0.707107 -1.64085e-08 -0.707107">
         <inertial pos="0.0043837 -0.000451217 -0.094125" quat="0.999746 -0.0138971 0.0176168 -0.00189402" mass="0.756573" diaginertia="0.00196614 0.0013907 0.000972437"/>
-        <joint name="left hip pitch" pos="0 0 0" axis="0 0 -1" range="0.5 2.69" actuatorfrcrange="-80 80"/>
+        <joint name="left hip pitch" pos="0 0 0" axis="0 0 -1" range="0.5 2.69" />
         <geom type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="leg_assembly_left_1_rmd_x12_150_mock_1_inner_x12_150_1_simple" class="visualgeom"/>
         <geom type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="leg_assembly_left_1_rmd_x12_150_mock_1_inner_x12_150_1_simple" contype="0" conaffinity="0" group="1" density="0"/>
         <geom pos="0 -0.0185 -0.023" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="leg_assembly_left_1_leg_part_2_left_1_simple" class="visualgeom"/>
@@ -100,7 +102,7 @@
         <geom type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="leg_assembly_left_1_rmd_x8_90_mock_1_outer_rmd_x8_90_1_simple" pos="0.0230618 0.0179298 -0.146308" quat="0.5 -0.5 0.5 -0.5" contype="0" conaffinity="0" group="1" density="0"/>
         <body name="link_leg_assembly_left_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1" pos="-0.0244382 -0.000630373 -0.1015" quat="0.5 0.5 -0.5 -0.5">
           <inertial pos="-0.0373825 -0.0647483 -0.0203372" quat="0.672361 0.6935 -0.185823 -0.180159" mass="1.13448" diaginertia="0.00509051 0.00495498 0.00182546"/>
-          <joint name="left hip yaw" pos="0 0 0" axis="0 0 -1" range="0.5 1.19" actuatorfrcrange="-80 80"/>
+          <joint name="left hip yaw" pos="0 0 0" axis="0 0 -1" range="0.5 1.19" />
           <geom type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="leg_assembly_left_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1_simple" class="visualgeom"/>
           <geom type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="leg_assembly_left_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1_simple" contype="0" conaffinity="0" group="1" density="0"/>
           <geom pos="0.0216506 0.0125 0.0035" quat="-1.16026e-08 0.5 -0.866025 2.00962e-08" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="leg_assembly_left_1_leg_part_3_1_simple" class="visualgeom"/>
@@ -111,7 +113,7 @@
           <geom type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="leg_assembly_left_1_rmd_x8_90_mock_2_outer_rmd_x8_90_1_simple" pos="-0.016195 -0.117667 -0.00108985" quat="-0.683013 0.683013 -0.183013 0.183013" contype="0" conaffinity="0" group="1" density="0"/>
           <body name="link_leg_assembly_left_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1" pos="-0.07875 -0.136399 -0.01965" quat="-0.683013 -0.683013 0.183013 0.183013">
             <inertial pos="-0.0075205 0.000314022 0.0700513" quat="0.999881 0.00425341 -0.0146013 0.0026192" mass="1.13901" diaginertia="0.00601107 0.00514035 0.00158692"/>
-            <joint name="left hip roll" pos="0 0 0" axis="0 0 -1" range="-0.5 0.5" actuatorfrcrange="-80 80"/>
+            <joint name="left hip roll" pos="0 0 0" axis="0 0 -1" range="-0.5 0.5" />
             <geom type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="leg_assembly_left_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1_simple" class="visualgeom"/>
             <geom type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="leg_assembly_left_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1_simple" contype="0" conaffinity="0" group="1" density="0"/>
             <geom pos="0 0 0.0035" quat="0 -2.32051e-08 1 -2.32051e-08" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="leg_assembly_left_1_let_part_5_left_1_simple" class="visualgeom"/>
@@ -120,7 +122,7 @@
             <geom type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="leg_assembly_left_1_rmd_x8_90_mock_3_outer_rmd_x8_90_1_simple" pos="-0.02685 0.0448082 0.10844" quat="-4.92255e-08 -0.707107 -1.64085e-08 0.707107" contype="0" conaffinity="0" group="1" density="0"/>
             <body name="link_leg_assembly_left_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1" pos="0.02065 8.89452e-09 0.127" quat="0.707107 -3.2817e-08 0.707107 0">
               <inertial pos="0.0449624 -0.0780024 -0.0105593" quat="0.691941 0.674006 0.18614 0.179682" mass="0.88694" diaginertia="0.00985766 0.00713533 0.00349125"/>
-              <joint name="left knee pitch" pos="0 0 0" axis="0 0 -1" range="1 3.1" actuatorfrcrange="-80 80"/>
+              <joint name="left knee pitch" pos="0 0 0" axis="0 0 -1" range="1 3.1" />
               <geom type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="leg_assembly_left_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1_simple" class="visualgeom"/>
               <geom type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="leg_assembly_left_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1_simple" contype="0" conaffinity="0" group="1" density="0"/>
               <geom pos="0.0216506 0.0125 0.0035" quat="-2.00962e-08 0.866025 -0.5 1.16026e-08" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="leg_assembly_left_1_leg_part_6_2_simple" class="visualgeom"/>
@@ -131,7 +133,7 @@
               <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="leg_assembly_left_1_leg_part_7_1_simple" pos="0.0825 -0.142894 -0.074" quat="-2.00962e-08 0.866025 -0.5 1.16026e-08" contype="0" conaffinity="0" group="1" density="0"/>
               <body name="link_leg_assembly_left_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1" pos="0.123 -0.213042 -0.0129" quat="2.60501e-08 -0.104528 0.994522 -3.67176e-08">
                 <inertial pos="0.000520119 -0.0339665 0.0111351" quat="0.447691 0.46851 -0.533493 0.543559" mass="0.60771" diaginertia="0.00111303 0.00101075 0.000571984"/>
-                <joint name="left ankle pitch" pos="0 0 0" axis="0 0 -1" range="-0.3 1.13" actuatorfrcrange="-80 80"/>
+                <joint name="left ankle pitch" pos="0 0 0" axis="0 0 -1" range="-0.3 1.13" />
                 <geom type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="leg_assembly_left_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1_simple" class="visualgeom"/>
                 <geom type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="leg_assembly_left_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1_simple" contype="0" conaffinity="0" group="1" density="0"/>
                 <geom pos="0.01225 -0.0212176 -0.02" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="left_foot_1_ankle_half_2_left_1_simple" class="visualgeom"/>
@@ -142,13 +144,13 @@
                 <geom type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="left_foot_1_ankle_half_1_left_2_simple" pos="0 0.0145 0.04735" quat="0.707107 0 0.707107 0" contype="0" conaffinity="0" group="1" density="0"/>
                 <body name="link_left_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1" pos="0.0135 -0.07155 0.01055" quat="-0.5 0.5 0.5 -0.5">
                   <inertial pos="0.00584595 -0.0275033 -0.0114478" quat="0.994413 -0.0147465 -0.00155004 0.104511" mass="0.422846" diaginertia="0.00136272 0.00135059 0.000429099"/>
-                  <joint name="left ankle roll" pos="0 0 0" axis="0 0 -1" range="1 5" actuatorfrcrange="-80 80"/>
+                  <joint name="left ankle roll" pos="0 0 0" axis="0 0 -1" range="1 5" />
                   <geom type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="left_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1_simple" class="visualgeom"/>
                   <geom type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="left_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1_simple" contype="0" conaffinity="0" group="1" density="0"/>
                   <geom pos="0.00275746 -0.0127042 -0.025" quat="0.994522 0 0 0.104528" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="left_foot_1_foot_1_simple" class="visualgeom"/>
                   <geom type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="left_foot_1_foot_1_simple" pos="0.00275746 -0.0127042 -0.025" quat="0.994522 0 0 0.104528" contype="0" conaffinity="0" group="1" density="0"/>
-                  <geom pos="0.0103956 -0.0489074 -0.0147699" quat="0.703233 -0.703233 -0.0739128 0.0739128" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="left_foot_1_rubber_grip_1_simple" class="collision"/>
-                  <!-- <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="left_foot_1_rubber_grip_1_simple" pos="0.0103956 -0.0489074 -0.0147699" quat="0.703233 -0.703233 -0.0739128 0.0739128" contype="0" conaffinity="0" group="1" density="0"/> -->
+                  <geom pos="0.0103956 -0.0489074 -0.0147699" quat="0.703233 -0.703233 -0.0739128 0.0739128" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="left_foot_1_rubber_grip_1_simple" class="visualgeom"/>
+                  <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="left_foot_1_rubber_grip_1_simple" pos="0.0103956 -0.0489074 -0.0147699" quat="0.703233 -0.703233 -0.0739128 0.0739128"/>
                   <!-- <geom class="collision" type="capsule" fromto="0 0.005 -.17 -.02 0.005 -.01" size="0.05" rgba="0.647059 0.647059 0.647059 1" /> -->
                   <!-- <geom class="collision" type="capsule" fromto="0 0.005 -.17 .02 0.005 -.01" size="0.05" rgba="0.647059 0.647059 0.647059 1" /> -->
                 </body>
@@ -160,7 +162,7 @@
       <!-- Right Leg-->
       <body name="link_leg_assembly_right_1_rmd_x12_150_mock_1_inner_x12_150_1" pos="-0.0654987 -9.85788e-08 -0.0519759" quat="0.707107 0 0.707107 -5.17638e-08">
         <inertial pos="0.000159261 0.00902113 -0.094125" quat="0.705448 -0.000335157 0.0178577 0.708537" mass="0.756573" diaginertia="0.00196556 0.00139216 0.000974605"/>
-        <joint name="right hip pitch" pos="0 0 0" axis="0 0 -1" range="-1 1" actuatorfrcrange="-80 80"/>
+        <joint name="right hip pitch" pos="0 0 0" axis="0 0 -1" range="-1 1" />
         <geom type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="leg_assembly_right_1_rmd_x12_150_mock_1_inner_x12_150_1_simple" class="visualgeom"/>
         <geom type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="leg_assembly_right_1_rmd_x12_150_mock_1_inner_x12_150_1_simple" contype="0" conaffinity="0" group="1" density="0"/>
         <geom pos="0 0 -0.023" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="leg_assembly_right_1_leg_part_2_right_1_simple" class="visualgeom"/>
@@ -169,7 +171,7 @@
         <geom type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="leg_assembly_right_1_rmd_x8_90_mock_1_outer_rmd_x8_90_1_simple" pos="-0.0185601 0.02785 -0.0566918" quat="0.707107 -0.707107 0 0" contype="0" conaffinity="0" group="1" density="0"/>
         <body name="link_leg_assembly_right_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1" pos="7.46238e-10 -0.01965 -0.1015" quat="0.707107 0.707107 0 0">
           <inertial pos="-0.0373825 -0.0647483 -0.0203372" quat="0.672361 0.6935 -0.185823 -0.180159" mass="1.13448" diaginertia="0.00509051 0.00495498 0.00182546"/>
-          <joint name="right hip yaw" pos="0 0 0" axis="0 0 -1" range="-2.2 -1" actuatorfrcrange="-80 80"/>
+          <joint name="right hip yaw" pos="0 0 0" axis="0 0 -1" range="-2.2 -1" />
           <geom type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="leg_assembly_right_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1_simple" class="visualgeom"/>
           <geom type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="leg_assembly_right_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1_simple" contype="0" conaffinity="0" group="1" density="0"/>
           <geom pos="0.0216506 0.0125 0.0035" quat="-1.16026e-08 0.5 -0.866025 2.00962e-08" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="leg_assembly_right_1_leg_part_3_1_simple" class="visualgeom"/>
@@ -180,7 +182,7 @@
           <geom type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="leg_assembly_right_1_rmd_x8_90_mock_2_outer_rmd_x8_90_1_simple" pos="-0.016195 -0.117667 -0.00108985" quat="-0.683013 0.683013 -0.183013 0.183013" contype="0" conaffinity="0" group="1" density="0"/>
           <body name="link_leg_assembly_right_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1" pos="-0.07875 -0.136399 -0.01965" quat="-0.683013 -0.683013 0.183013 0.183013">
             <inertial pos="0.000314021 -0.00752051 0.0700513" quat="0.708875 0.00731707 -0.0133323 0.705171" mass="1.13901" diaginertia="0.00601107 0.00514035 0.00158692"/>
-            <joint name="right hip roll" pos="0 0 0" axis="0 0 -1" range="-2.39 -1" actuatorfrcrange="-80 80"/>
+            <joint name="right hip roll" pos="0 0 0" axis="0 0 -1" range="-2.39 -1" />
             <geom type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="leg_assembly_right_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1_simple" class="visualgeom"/>
             <geom type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="leg_assembly_right_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1_simple" contype="0" conaffinity="0" group="1" density="0"/>
             <geom pos="-0.0216506 -0.0125 0.0035" quat="-1.64085e-08 0.707107 0.707107 -1.64085e-08" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="leg_assembly_right_1_leg_part_5_right_2_simple" class="visualgeom"/>
@@ -189,7 +191,7 @@
             <geom type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="leg_assembly_right_1_rmd_x8_90_mock_3_outer_rmd_x8_90_1_simple" pos="0.0448082 -0.02685 0.10844" quat="0.5 0.5 0.5 -0.5" contype="0" conaffinity="0" group="1" density="0"/>
             <body name="link_leg_assembly_right_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1" pos="6.61991e-09 0.02065 0.127" quat="-0.5 0.5 -0.5 -0.5">
               <inertial pos="0.0449624 -0.0780024 -0.0105593" quat="0.691941 0.674006 0.18614 0.179682" mass="0.88694" diaginertia="0.00985766 0.00713533 0.00349125"/>
-              <joint name="right knee pitch" pos="0 0 0" axis="0 0 -1" range="1.54 3" actuatorfrcrange="-80 80"/>
+              <joint name="right knee pitch" pos="0 0 0" axis="0 0 -1" range="1.54 3" />
               <geom type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="leg_assembly_right_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1_simple" class="visualgeom"/>
               <geom type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="leg_assembly_right_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1_simple" contype="0" conaffinity="0" group="1" density="0"/>
               <geom pos="0.0216506 0.0125 0.0035" quat="-2.00962e-08 0.866025 -0.5 1.16026e-08" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="leg_assembly_right_1_leg_part_6_2_simple" class="visualgeom"/>
@@ -200,7 +202,7 @@
               <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="leg_assembly_right_1_leg_part_7_1_simple" pos="0.0825 -0.142894 -0.074" quat="-2.00962e-08 0.866025 -0.5 1.16026e-08" contype="0" conaffinity="0" group="1" density="0"/>
               <body name="link_leg_assembly_right_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1" pos="0.123 -0.213042 -0.0129" quat="2.60501e-08 -0.104528 0.994522 -3.67176e-08">
                 <inertial pos="-0.000520129 -0.0339665 0.0111351" quat="0.530142 0.546765 -0.472492 0.443563" mass="0.607709" diaginertia="0.0011141 0.00101039 0.00057127"/>
-                <joint name="right ankle pitch" pos="0 0 0" axis="0 0 -1" range="-0.5 0.94" actuatorfrcrange="-80 80"/>
+                <joint name="right ankle pitch" pos="0 0 0" axis="0 0 -1" range="-0.5 0.94" />
                 <geom type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="leg_assembly_right_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1_simple" class="visualgeom"/>
                 <geom type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="leg_assembly_right_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1_simple" contype="0" conaffinity="0" group="1" density="0"/>
                 <geom pos="-0.01225 -0.0212176 -0.02" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="right_foot_1_ankle_half_2_right_2_simple" class="visualgeom"/>
@@ -211,13 +213,13 @@
                 <geom type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="right_foot_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1_simple" pos="-0.0335 -0.04705 0.01055" quat="0.707107 0 0.707107 0" contype="0" conaffinity="0" group="1" density="0"/>
                 <body name="link_right_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1" pos="-0.0135 -0.07155 0.01055" quat="0.5 0.5 0.5 0.5">
                   <inertial pos="0.00584595 -0.0275033 -0.0114478" quat="0.994413 -0.0147465 -0.00155005 0.10451" mass="0.422846" diaginertia="0.00136272 0.00135059 0.000429099"/>
-                  <joint name="right ankle roll" pos="0 0 0" axis="0 0 -1" range="1 2.3" actuatorfrcrange="-80 80"/>
+                  <joint name="right ankle roll" pos="0 0 0" axis="0 0 -1" range="1 2.3" />
                   <geom type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="right_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1_simple" class="visualgeom"/>
                   <geom type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="right_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1_simple" contype="0" conaffinity="0" group="1" density="0"/>
                   <geom pos="0.00275746 -0.0127042 -0.025" quat="0.994522 0 0 0.104528" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="right_foot_1_foot_1_simple" class="visualgeom"/>
                   <geom type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="right_foot_1_foot_1_simple" pos="0.00275746 -0.0127042 -0.025" quat="0.994522 0 0 0.104528" contype="0" conaffinity="0" group="1" density="0"/>
-                  <geom pos="0.0103956 -0.0489074 -0.0147699" quat="-0.0739128 -0.0739128 0.703233 0.703233" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="right_foot_1_rubber_grip_3_simple" class="collision"/>
-                  <!-- <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="right_foot_1_rubber_grip_3_simple" pos="0.0103956 -0.0489074 -0.0147699" quat="-0.0739128 -0.0739128 0.703233 0.703233" contype="0" conaffinity="0" group="1" density="0"/> -->
+                  <geom pos="0.0103956 -0.0489074 -0.0147699" quat="-0.0739128 -0.0739128 0.703233 0.703233" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="right_foot_1_rubber_grip_3_simple" class="visualgeom"/>
+                  <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="right_foot_1_rubber_grip_3_simple" pos="0.0103956 -0.0489074 -0.0147699" quat="-0.0739128 -0.0739128 0.703233 0.703233"/>
                   <!-- <geom class="collision" type="capsule" fromto="0 0.005 -.17 -.02 0.005 -.01" size="0.01" rgba="0.647059 0.647059 0.647059 1" />
                   <geom class="collision" type="capsule" fromto="0 0.005 -.17 .02 0.005 -.01" size="0.01" rgba="0.647059 0.647059 0.647059 1" /> -->
                 </body>
@@ -283,6 +285,6 @@
     <gyro name="angular-velocity" site="imu" noise="0.005" cutoff="34.9"/>
   </sensor>
   <keyframe>
-    <key name="default" qpos='0 0 -0.29 1 0 0 0 1.60595 1.0037 0 2.05 0.3292 1.715 -0.01 -2.152 -1.60465 2.1605 0.5008 1.7305'/>
+    <key name="default" qpos='0 0 0 1 0 0 0 1.60595 1.0037 0 2.05 0.3292 1.715 -0.01 -2.152 -1.60465 2.1605 0.5008 1.7305'/>
   </keyframe>
-</mujoco>
+</mujoco>
\ No newline at end of file