model_name: "himloco.pt"
framework: "isaacgym"
rows: 4
cols: 3
decimation: 4
num_observations: 45
observations: ["commands", "ang_vel", "gravity_vec", "dof_pos", "dof_vel", "actions"]
observations_history: [5, 4, 3, 2, 1, 0]
clip_obs: 100.0
clip_actions_lower: [-100, -100, -100,
                     -100, -100, -100,
                     -100, -100, -100,
                     -100, -100, -100]
clip_actions_upper: [100, 100, 100,
                     100, 100, 100,
                     100, 100, 100,
                     100, 100, 100]
rl_kp: [40, 40, 40,
        40, 40, 40,
        40, 40, 40,
        40, 40, 40]
rl_kd: [1, 1, 1,
        1, 1, 1,
        1, 1, 1,
        1, 1, 1]
hip_scale_reduction: 1.0
hip_scale_reduction_indices: [0, 3, 6, 9]
num_of_dofs: 12
action_scale: 0.25

lin_vel_scale: 2.0
ang_vel_scale: 0.25
dof_pos_scale: 1.0
dof_vel_scale: 0.05

commands_scale: [2.0, 2.0, 0.25]

torque_limits: [33.5, 33.5, 33.5,
                33.5, 33.5, 33.5,
                33.5, 33.5, 33.5,
                33.5, 33.5, 33.5]