diff --git a/js/walker.js b/js/walker.js
index a152e6f..d38461d 100644
--- a/js/walker.js
+++ b/js/walker.js
@@ -6,7 +6,7 @@ function deg2rad(deg) {
   return deg/180*Math.PI
 }
 
-const STRENGTH = 6
+const STRENGTH = 2
 
 var Walker = function() {
   this.__constructor.apply(this, arguments);
@@ -109,11 +109,12 @@ Walker.prototype.createTorso = function() {
   position.y -= this.torso_def.upper_height/2;
   position.x -= this.torso_def.lower_width/3;
   jd.Initialize(upper_torso, lower_torso, position);
-  jd.lowerAngle = deg2rad(-30);
-  jd.upperAngle = deg2rad(75);
+  jd.lowerAngle = deg2rad(-30/2);
+  jd.upperAngle = deg2rad(75 / 2);
+  jd.user_data = 'torso_joint'
   
   jd.enableLimit = true;
-  jd.maxMotorTorque = 250 * STRENGTH;
+  jd.maxMotorTorque = 200 * STRENGTH;
   jd.motorSpeed = 0;
   jd.enableMotor = true;
   this.joints.push(this.world.CreateJoint(jd));
@@ -226,7 +227,7 @@ Walker.prototype.createHead = function() {
   jd.lowerAngle = -0.1;
   jd.upperAngle = 0.2;
   jd.enableLimit = true;
-  jd.maxMotorTorque = 2 * STRENGTH;
+  jd.maxMotorTorque = 4 * STRENGTH;
   jd.motorSpeed = 0;
   jd.enableMotor = true;
   this.joints.push(this.world.CreateJoint(jd));
@@ -276,7 +277,7 @@ Walker.prototype.connectParts = function() {
   jd.lowerAngle = deg2rad(-10);
   jd.upperAngle = deg2rad(80);
   jd.enableLimit = true;
-  jd.maxMotorTorque = 250 * STRENGTH;
+  jd.maxMotorTorque = 350 * STRENGTH;
   jd.motorSpeed = 0;
   jd.enableMotor = true;
   this.joints.push(this.world.CreateJoint(jd));
@@ -286,7 +287,7 @@ Walker.prototype.connectParts = function() {
   jd.lowerAngle = deg2rad(-10);
   jd.upperAngle = deg2rad(80);
   jd.enableLimit = true;
-  jd.maxMotorTorque = 250 * STRENGTH;
+  jd.maxMotorTorque = 350 * STRENGTH;
   jd.motorSpeed = 0;
   jd.enableMotor = true;
   this.joints.push(this.world.CreateJoint(jd));
@@ -337,21 +338,25 @@ Walker.prototype.simulationPreStep = function (motorSpeeds) {
 }
 
 Walker.prototype.simulationStep = function (motorSpeeds) {
-  this.steps ++
+  this.steps++
   /* score/reward */
   // reward copied from OpenAI Gym Humanoid Walker https://github.com/openai/gym/blob/master/gym/envs/mujoco/humanoid.py
   // also see https://github.com/AdamStelmaszczyk/learning2run/blob/master/osim-rl/osim/env/run.py#L67
   // https://github.com/openai/gym/blob/master/gym/envs/mujoco/assets/humanoidstandup.xml
 
   // reward for keeping head up
-  var head_height_reward = this.head.head.GetPosition().y * 2;  // it's head should be above it's feet 2*(-0.25-2)
+  var head_height_reward = this.head.head.GetPosition().y * 8;  // it's head should be above it's feet 2*(-0.25-2)
 
   // reward for moving one leg beyond the other (stepping)
   var left_leg_forward = this.right_leg.foot.GetPosition().x > this.left_leg.foot.GetPosition().x;
-  var leg_switch_reward = (left_leg_forward!=this.last_left_left_forward)? 1:0
+  var leg_switch_reward = (left_leg_forward != this.last_left_left_forward) ? 1 : 0
 
   // cost for moving joints to unnatural positions
-  var joint_angle_cost = - 0.02 * this.joints.map(j=>j.GetJointAngle()-j.GetReferenceAngle()).reduce((o,v)=>o+v*v,0) // - 0.02 * (0 - 20)
+
+  var jointFractionMovement = j => j.GetJointAngle() > 0 ? j.GetJointAngle() / (j.GetUpperLimit() + 1) : j.GetJointAngle() / (j.GetLowerLimit() + 1)
+  var quad_joint_angle_cost = - 0.004 * this.joints.map(j => jointFractionMovement(j) * 1.2)
+    .reduce((o, v) => o + v * v, 0)
+  quad_joint_angle_cost = Math.max(quad_joint_angle_cost, -10)
 
   // reward for moving rights
   var position = this.torso.upper_torso.GetPosition().x
@@ -362,28 +367,37 @@ Walker.prototype.simulationStep = function (motorSpeeds) {
 
   // punish for using energy, squared
   var quad_ctrl_cost = -0.01 * this.joints.map(j => j.GetJointSpeed()).reduce((sum, speed) => sum + speed ** 2)
+  quad_ctrl_cost = Math.max(quad_ctrl_cost, -10)
   var bonus_happiness = 5 // May they find happiness for all their days
 
   // we don't have data on external forces, so I will just punish for contact with the ground
+  http://blog.sethladd.com/2011/09/box2d-collision-damage-for-javascript.html
+  // However we could use a listener or calc force
+  // var listener = new b2.ContactListener()
+  // listener.PostSolve = function (contact, impulse) {
+  //     if (contact) console.log(contact)
+  //   }
+  //   globals.world.SetContactListener(listener)
+  // }
   var contacts = this.bodies.map(b => b.GetContactList()).filter(b => b).length
-  quad_impact_cost = -Math.min(contacts - 4, 10)/8
+  quad_impact_cost = -Math.min(contacts - 4, 10)/3
 
   this.rewards = {
     lin_vel_reward,
     quad_ctrl_cost,
     quad_impact_cost,
-    joint_angle_cost,
+    quad_joint_angle_cost,
     bonus_happiness,
     head_height_reward,
     leg_switch_reward
   }
   
-  this.reward = Object.values(this.rewards).reduce((tot,v)=>tot+v, 0) * 10
+  this.reward = Object.values(this.rewards).reduce((tot,v)=>tot+v, 0)
 
   this.last_left_left_forward = left_leg_forward
 
   var info = {
-    x: this.steps,
+    episodeSteps: this.steps,
     reward:this.reward,
     position,
     ...this.rewards