diff --git a/source/SO_100/SO_100/robots/so_arm100_roscon.py b/source/SO_100/SO_100/robots/so_arm100_roscon.py
index 2b17869..b6dcd96 100644
--- a/source/SO_100/SO_100/robots/so_arm100_roscon.py
+++ b/source/SO_100/SO_100/robots/so_arm100_roscon.py
@@ -98,4 +98,23 @@
     soft_joint_pos_limit_factor=1.0,
 )
 
-"""Configuration of SO-ARM robot arm more adapted for sim2real."""
+"""Configuration of SO-ARM robot more adapted for sim2real."""
+
+SO_ARM100_ROSCON_HIGH_PD_CFG = SO_ARM100_ROSCON_CFG.copy()
+SO_ARM100_ROSCON_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True
+SO_ARM100_ROSCON_HIGH_PD_CFG.actuators["arm"].stiffness = {
+    "shoulder_pan_joint": 500.0,  # Highest - moves all mass
+    "shoulder_lift_joint": 500.0,  # Slightly less than rotation
+    "elbow_joint": 400.0,  # Reduced based on less mass
+    "wrist_pitch_joint": 300.0,  # Reduced for less mass
+    "wrist_roll_joint": 300.0,  # Low mass to move
+}
+SO_ARM100_ROSCON_HIGH_PD_CFG.actuators["arm"].damping = {
+    "shoulder_pan_joint": 150.0,
+    "shoulder_lift_joint": 150.0,
+    "elbow_joint": 120.0,
+    "wrist_pitch_joint": 90.0,
+    "wrist_roll_joint": 90.0,
+}
+
+"""Configuration of SO-ARM robot with stiffer PD control."""
diff --git a/source/SO_100/SO_100/tasks/reach/ik_rel_env_cfg.py b/source/SO_100/SO_100/tasks/reach/ik_rel_env_cfg.py
index ed089e3..0bf4011 100644
--- a/source/SO_100/SO_100/tasks/reach/ik_rel_env_cfg.py
+++ b/source/SO_100/SO_100/tasks/reach/ik_rel_env_cfg.py
@@ -15,7 +15,7 @@
 ##
 # Pre-defined configs
 ##
-from SO_100.robots import SO_ARM100_CFG, SO_ARM100_ROSCON_CFG  # noqa: F401
+from SO_100.robots import SO_ARM100_ROSCON_HIGH_PD_CFG  # noqa: F401
 
 from .joint_pos_env_cfg import SoArm100ReachRosConEnvCfg
 
@@ -32,7 +32,7 @@ def __post_init__(self):
 
         # Set Franka as robot
         # We switch here to a stiffer PD controller for IK tracking to be better.
-        self.scene.robot = SO_ARM100_ROSCON_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = SO_ARM100_ROSCON_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
diff --git a/source/SO_100/SO_100/tasks/reach/joint_pos_env_cfg.py b/source/SO_100/SO_100/tasks/reach/joint_pos_env_cfg.py
index c63ee99..2aee181 100644
--- a/source/SO_100/SO_100/tasks/reach/joint_pos_env_cfg.py
+++ b/source/SO_100/SO_100/tasks/reach/joint_pos_env_cfg.py
@@ -42,7 +42,7 @@ def __post_init__(self):
         self.rewards.end_effector_position_tracking_fine_grained.params["asset_cfg"].body_names = ["Fixed_Gripper"]
         self.rewards.end_effector_orientation_tracking.params["asset_cfg"].body_names = ["Fixed_Gripper"]
 
-        self.rewards.end_effector_orientation_tracking.weight = 0.0
+        # TODO: reorient command target
 
         # override actions
         self.actions.arm_action = mdp.JointPositionActionCfg(
@@ -103,7 +103,7 @@ def __post_init__(self):
 
 
 @configclass
-class SoArm100ReachRosConEnvCfg_PLAY(SoArm100ReachEnvCfg):
+class SoArm100ReachRosConEnvCfg_PLAY(SoArm100ReachRosConEnvCfg):
     def __post_init__(self):
         # post init of parent
         super().__post_init__()
diff --git a/source/SO_100/SO_100/tasks/reach/reach_env_cfg.py b/source/SO_100/SO_100/tasks/reach/reach_env_cfg.py
index 7cf340e..b4fc2de 100644
--- a/source/SO_100/SO_100/tasks/reach/reach_env_cfg.py
+++ b/source/SO_100/SO_100/tasks/reach/reach_env_cfg.py
@@ -79,8 +79,8 @@ class CommandsCfg:
         debug_vis=True,
         ranges=mdp.UniformPoseCommandCfg.Ranges(
             pos_x=(-0.1, 0.1),
-            pos_y=(-0.3, -0.1),
-            pos_z=(0.2, 0.35),
+            pos_y=(-0.25, -0.1),
+            pos_z=(0.1, 0.3),
             roll=(0.0, 0.0),
             pitch=(0.0, 0.0),
             yaw=(0.0, 0.0),