model_name: "policy.pt"
framework: "isaacgym"
rows: 4
cols: 3
decimation: 4
num_observations: 48
observations: ["lin_vel", "ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
#observations_history: [6, 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: [20, 20, 20,
        20, 20, 20,
        20, 20, 20,
        20, 20, 20]
rl_kd: [0.5, 0.5, 0.5,
        0.5, 0.5, 0.5,
        0.5, 0.5, 0.5,
        0.5, 0.5, 0.5]
fixed_kp: [60, 60, 60,
           60, 60, 60,
           60, 60, 60,
           60, 60, 60]
fixed_kd: [5, 5, 5,
           5, 5, 5,
           5, 5, 5,
           5, 5, 5]
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]
default_dof_pos: [ 0.1000, 0.8000, -1.5000,
                   -0.1000, 0.8000, -1.5000,
                   0.1000, 1.0000, -1.5000,
                   -0.1000, 1.0000, -1.5000]