diff --git a/src/rl_sar/library/rl_sdk/rl_sdk.cpp b/src/rl_sar/library/rl_sdk/rl_sdk.cpp
index 5cd311a..9d95e13 100644
--- a/src/rl_sar/library/rl_sdk/rl_sdk.cpp
+++ b/src/rl_sar/library/rl_sdk/rl_sdk.cpp
@@ -511,8 +511,8 @@ void RL::ReadYaml(std::string robot_name)
     this->params.ang_vel_scale = config["ang_vel_scale"].as<double>();
     this->params.dof_pos_scale = config["dof_pos_scale"].as<double>();
     this->params.dof_vel_scale = config["dof_vel_scale"].as<double>();
-    // this->params.commands_scale = torch::tensor(ReadVectorFromYaml<double>(config["commands_scale"])).view({1, -1});
-    this->params.commands_scale = torch::tensor({this->params.lin_vel_scale, this->params.lin_vel_scale, this->params.ang_vel_scale});
+    this->params.commands_scale = torch::tensor(ReadVectorFromYaml<double>(config["commands_scale"])).view({1, -1});
+    // this->params.commands_scale = torch::tensor({this->params.lin_vel_scale, this->params.lin_vel_scale, this->params.ang_vel_scale});
     this->params.rl_kp = torch::tensor(ReadVectorFromYaml<double>(config["rl_kp"], this->params.framework, rows, cols)).view({1, -1});
     this->params.rl_kd = torch::tensor(ReadVectorFromYaml<double>(config["rl_kd"], this->params.framework, rows, cols)).view({1, -1});
     this->params.fixed_kp = torch::tensor(ReadVectorFromYaml<double>(config["fixed_kp"], this->params.framework, rows, cols)).view({1, -1});
diff --git a/src/rl_sar/models/a1_isaacgym/config.yaml b/src/rl_sar/models/a1_isaacgym/config.yaml
index be75818..6afd6a4 100644
--- a/src/rl_sar/models/a1_isaacgym/config.yaml
+++ b/src/rl_sar/models/a1_isaacgym/config.yaml
@@ -41,7 +41,7 @@ a1_isaacgym:
   ang_vel_scale: 0.25
   dof_pos_scale: 1.0
   dof_vel_scale: 0.05
-  commands_scale: [2.0, 2.0, 1.0]
+  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,