revert kp, formatting changes

google-deepmind · Apr 19, 2024 · d369447 · d369447
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diff --git a/anybotics_anymal_c/README.md b/anybotics_anymal_c/README.md
@@ -34,21 +34,23 @@ description](https://github.com/ANYbotics/anymal_c_simple_description).
 11. Softened the contacts of the feet to approximate the effect of rubber.
 12. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
 
-## MJX
+#### MJX
 
-The MuJoCo config in `anymal_c_mjx.xml` has the following edits made specifically for MJX:
+A version of the ANYmal C for use in [MJX](https://mujoco.readthedocs.io/en/stable/mjx.html) is available in scene_mjx.xml with the following changes:
 
+* The solver `iterations` and `ls_iterations` were modified for performance.
 * `frictionloss` was removed.
-* PD gain was re-tuned.
 * A custom `init_qpos` was added.
 * The friction cone was changed from elliptic to pyramidal.
-* All contacts other than the sphere geoms on the feet were turned off. Its contact dimensionality was changed from 6 to 3.
+* All contacts other than the sphere geoms on the feet were turned off. Contact dimensionality was changed from 6 to 3.
 * Pairwise contacts between feet were turned off to speed up simulation.
 * The compiler option was changed to `<option timestep="0.002" iterations="1" solver="Newton"/>`, with `<flag eulerdamp="disable"/>`.
 * Some decorative geoms were removed from the torso, to speed up rendering.
 
 *Hint*: Call `mujoco.MjModel.from_xml_path` on `scene.xml` or `scene_mjx.xml`, not on the Anymal files!
 
+[An example of using this XML for policy learning](https://github.com/google-deepmind/mujoco/blob/main/mjx/training_apg.ipynb)
+
 ## License
 
 This model is released under a [BSD-3-Clause License](LICENSE).
diff --git a/anybotics_anymal_c/anymal_c_mjx.xml b/anybotics_anymal_c/anymal_c_mjx.xml
@@ -1,7 +1,7 @@
 <mujoco model="anymal_c">
   <compiler angle="radian" meshdir="assets" texturedir="assets" autolimits="true"/>
   <option timestep="0.002" iterations="1" ls_iterations="4" solver="Newton">
-      <flag eulerdamp="disable"/>
+    <flag eulerdamp="disable"/>
   </option>
   <option cone="pyramidal" impratio="100"/>
 
@@ -26,7 +26,7 @@
       </default>
 
       <default class="affine">
-        <position kp="230" ctrlrange="-6.28 6.28" forcerange="-80 80"/>
+        <position kp="100" ctrlrange="-6.28 6.28" forcerange="-80 80"/>
       </default>
 
     </default>

diff --git a/anybotics_anymal_c/scene_mjx.xml b/anybotics_anymal_c/scene_mjx.xml
@@ -20,4 +20,4 @@
     <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
   </worldbody>
-</mujoco>
+</mujoco>