diff --git a/src/rl_sar/config.yaml b/src/rl_sar/config.yaml
index 73f9dcd..c2589a8 100644
--- a/src/rl_sar/config.yaml
+++ b/src/rl_sar/config.yaml
@@ -40,117 +40,3 @@ a1:
                 "FR_hip_joint", "FR_thigh_joint", "FR_calf_joint",
                 "RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
                 "RR_hip_joint", "RR_thigh_joint", "RR_calf_joint"]
-
-cyberdog1:
-  model_name: "model.pt"
-  num_observations: 45
-  clip_obs: 100.0
-  clip_actions: 100.0
-  rl_kp: [20, 20, 20, # FL
-          20, 20, 20, # FR
-          20, 20, 20, # RL
-          20, 20, 20] # RR
-  rl_kd: [0.5, 0.5, 0.5, # FL
-          0.5, 0.5, 0.5, # FR
-          0.5, 0.5, 0.5, # RL
-          0.5, 0.5, 0.5] # RR
-  fixed_kp: [80, 80, 80, # FL
-             80, 80, 80, # FR
-             80, 80, 80, # RL
-             80, 80, 80] # RR
-  fixed_kd: [3, 3, 3, # FL
-             3, 3, 3, # FR
-             3, 3, 3, # RL
-             3, 3, 3] # RR
-  action_scale: 0.25
-  hip_scale_reduction: 0.5
-  hip_scale_reduction_indices: [0, 3, 6, 9]
-  num_of_dofs: 12
-  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: [24.0, 24.0, 24.0, # FL 
-                  24.0, 24.0, 24.0, # FR
-                  24.0, 24.0, 24.0, # RL
-                  24.0, 24.0, 24.0] # RR
-  default_dof_pos: [ 0.1000, 0.8000, -1.5000, # FL
-                    -0.1000, 0.8000, -1.5000, # FR
-                     0.1000, 1.0000, -1.5000, # RL
-                    -0.1000, 1.0000, -1.5000] # RR
-  joint_names: ["FL_hip_joint", "FL_thigh_joint", "FL_calf_joint",
-                "FR_hip_joint", "FR_thigh_joint", "FR_calf_joint",
-                "RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
-                "RR_hip_joint", "RR_thigh_joint", "RR_calf_joint"]
-
-lite3_wheel:
-  num_observations: 45
-  clip_obs: 100.0
-  clip_actions: 100.0
-  rl_kp: [20, 20, 20, 0, # FL
-          20, 20, 20, 0, # FR
-          20, 20, 20, 0, # RL
-          20, 20, 20, 0] # RR
-  rl_kd: [0.5, 0.5, 0.5, 0.5, # FL
-          0.5, 0.5, 0.5, 0.5, # FR
-          0.5, 0.5, 0.5, 0.5, # RL
-          0.5, 0.5, 0.5, 0.5] # RR
-  fixed_kp: [80, 80, 80, # FL
-             80, 80, 80, # FR
-             80, 80, 80, # RL
-             80, 80, 80] # RR
-  fixed_kd: [3, 3, 3, # FL
-             3, 3, 3, # FR
-             3, 3, 3, # RL
-             3, 3, 3] # RR
-  action_scale: 0.25
-  hip_scale_reduction: 1.0
-  hip_scale_reduction_indices: [0, 3, 6, 9]
-  num_of_dofs: 16
-  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: [21.6, 21.6, 32.4, 1.8, # FL 
-                  21.6, 21.6, 32.4, 1.8, # FR
-                  21.6, 21.6, 32.4, 1.8, # RL
-                  21.6, 21.6, 32.4, 1.8] # RR
-  default_dof_pos: [ 0.1000, 0.8000, -1.5000, 0.0000, # FL
-                    -0.1000, 0.8000, -1.5000, 0.0000, # FR
-                     0.1000, 1.0000, -1.5000, 0.0000, # RL
-                    -0.1000, 1.0000, -1.5000, 0.0000] # RR
-  joint_names: ["FL_hip_joint", "FL_thigh_joint", "FL_calf_joint",
-                "FR_hip_joint", "FR_thigh_joint", "FR_calf_joint",
-                "RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
-                "RR_hip_joint", "RR_thigh_joint", "RR_calf_joint"]
-
-gr1t1:
-  model_name: "model_4000_jit.pt"
-  num_observations: 39
-  clip_obs: 100.0
-  clip_actions: 100.0
-  rl_kp: [57.0, 43.0, 114.0, 114.0, 15.3, 
-          57.0, 43.0, 114.0, 114.0, 15.3]
-  rl_kd: [5.7, 4.3, 11.4, 11.4, 1.5, 
-          5.7, 4.3, 11.4, 11.4, 1.5]
-  fixed_kp: [57.0, 43.0, 114.0, 114.0, 15.3, 
-             57.0, 43.0, 114.0, 114.0, 15.3]
-  fixed_kd: [5.7, 4.3, 11.4, 11.4, 1.5, 
-             5.7, 4.3, 11.4, 11.4, 1.5]
-  action_scale: 1.0
-  hip_scale_reduction: 1.0
-  hip_scale_reduction_indices: []
-  num_of_dofs: 10
-  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: [100.0, 100.0, 100.0, 100.0, 100.0, 
-                  100.0, 100.0, 100.0, 100.0, 100.0]
-  default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618, 
-                    0.0, 0.0, -0.2618, 0.5236, -0.2618]
-  joint_names: ["l_hip_roll_joint", "l_hip_yaw_joint", "l_hip_pitch_joint", "l_knee_pitch_joint", "l_ankle_pitch_joint", 
-                "r_hip_roll_joint", "r_hip_yaw_joint", "r_hip_pitch_joint", "r_knee_pitch_joint", "r_ankle_pitch_joint"]
\ No newline at end of file