new leg ik for step

scripts/gyms/Sprint.py

@@ -318,14 +318,14 @@ class sprint(gym.Env):
 
         # Leg IK
         a = self.act
-        l_ankle_pos = (a[0] * 0.02, max(0.01, a[1] * 0.02 + lfy), a[2] * 0.01 + lfz)  # limit y to avoid self collision
-        r_ankle_pos = (a[3] * 0.02, min(a[4] * 0.02 + rfy, -0.01), a[5] * 0.01 + rfz)  # limit y to avoid self collision
+        l_ankle_pos = (a[0] * 0.02, max(0.01, a[1] * 0.04 + lfy), a[2] * 0.02 + lfz)  # limit y to avoid self collision
+        r_ankle_pos = (a[3] * 0.02, min(a[4] * 0.04 + rfy, -0.01), a[5] * 0.02 + rfz)  # limit y to avoid self collision
         l_foot_rot = a[6:9] * (3, 3, 5)
         r_foot_rot = a[9:12] * (3, 3, 5)
 
         # Limit leg yaw/pitch
-        l_foot_rot[2] = max(0, l_foot_rot[2] + 7)
-        r_foot_rot[2] = min(0, r_foot_rot[2] - 7)
+        l_foot_rot[2] = max(0, l_foot_rot[2] + 8)
+        r_foot_rot[2] = min(0, r_foot_rot[2] - 8)
 
         # Arms actions
         arms = np.copy(self.DEFAULT_ARMS)  # default arms pose