diff --git a/README.md b/README.md
index b4c67ab..45c4da2 100644
--- a/README.md
+++ b/README.md
@@ -71,6 +71,8 @@ cd ..
 catkin build
 ```
 
+If catkin build report errors: `Unable to find either executable 'empy' or Python module 'em'`, run `catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3` before `catkin build`
+
 ## Running
 
 Before running, copy the trained pt model file to `rl_sar/src/rl_sar/models/YOUR_ROBOT_NAME`, and configure the parameters in `config.yaml`.
@@ -100,9 +102,9 @@ Control:
 * Press **\<Space\>** to sets all control commands to zero.
 * If robot falls down, press **R** to reset Gazebo environment.
 
-### Physical Robots
+### Real Robots
 
-#### Unitree A1
+**Example: Unitree A1**
 
 Unitree A1 can be connected using both wireless and wired methods:
 
@@ -135,14 +137,13 @@ Or press **0** on the keyboard to switch the robot to the default standing posit
 
 ## Add Your Robot
 
-In the following, let ROBOT represent the name of your robot.
+In the following text, `<ROBOT>` represents the name of the robot
 
-1. Create a model package named ROBOT_description in the robots folder. Place the URDF model in the urdf path within the folder and name it ROBOT.urdf. Create a namespace named ROBOT_gazebo in the config folder within the model file for joint configuration.
-2. Place the model file in models/ROBOT.
-3. Add a new field in rl_sar/config.yaml named ROBOT and adjust the parameters, such as changing the model_name to the model file name from the previous step.
-4. Add a new launch file in the rl_sar/launch folder. Refer to other launch files for guidance on modification.
-5. Change ROBOT_NAME to ROBOT in rl_xxx.cpp.
-6. Compile and run.
+1. Create a model package named `<ROBOT>_description` in the `rl_sar/src/robots` directory. Place the robot's URDF file in the `rl_sar/src/robots/<ROBOT>_description/urdf` directory and name it `<ROBOT>.urdf`. Additionally, create a joint configuration file with the namespace `<ROBOT>_gazebo` in the `rl_sar/src/robots/<ROBOT>_description/config` directory.
+2. Place the trained RL model files in the `rl_sar/src/rl_sar/models/<ROBOT>` directory.
+3. In the `rl_sar/src/rl_sar/models/<ROBOT>` directory, create a `config.yaml` file, and modify its parameters based on the `rl_sar/src/rl_sar/models/a1_isaacgym/config.yaml` file.
+4. If you need to run simulations, modify the launch files as needed by referring to those in the `rl_sar/src/rl_sar/launch` directory.
+5. If you need to run on the physical robot, modify the file `rl_sar/src/rl_sar/src/rl_real_a1.cpp` as needed.
 
 ## Reference
 
diff --git a/README_CN.md b/README_CN.md
index 3796415..4a7f1e6 100644
--- a/README_CN.md
+++ b/README_CN.md
@@ -71,6 +71,8 @@ cd ..
 catkin build
 ```
 
+如果 catkin build 报错: `Unable to find either executable 'empy' or Python module 'em'`, 在`catkin build` 之前执行 `catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3`
+
 ## 运行
 
 运行前请将训练好的pt模型文件拷贝到`rl_sar/src/rl_sar/models/YOUR_ROBOT_NAME`中，并配置`config.yaml`中的参数。
@@ -101,9 +103,9 @@ source devel/setup.bash
 * 按 **\<Space\>** 将所有控制指令设置为零。
 * 如果机器人摔倒，按 **R** 重置Gazebo环境。
 
-### 实物
+### 真实机器人
 
-#### Unitree A1
+**示例：Unitree A1**
 
 与Unitree A1连接可以使用无线与有线两种方式
 
@@ -136,14 +138,13 @@ rosrun rl_sar rl_real_a1
 
 ## 添加你的机器人
 
-下文中将ROBOT代表机器人名称
+下文中将`<ROBOT>`代表机器人名称
 
-1. 在robots文件夹中创建名为ROBOT_description的模型包，将模型的urdf放到文件夹中的urdf路径下并命名为ROBOT.urdf，在模型文件中的config文件夹中创建命名空间为ROBOT_gazebo的关节配置文件
-2. 将模型文件放到models/ROBOT中
-3. 在rl_sar/config.yaml中添加一个新的字段，命名为ROBOT，更改其中参数，如将model_name改为上一步的模型文件名
-4. 在rl_sar/launch文件夹中添加一个新的launch文件，请参考其他launch文件自行修改
-5. 修改rl_xxx.cpp中的ROBOT_NAME为ROBOT
-6. 编译运行
+1. 在`rl_sar/src/robots`路径下创建名为`<ROBOT>_description`的模型包，将模型的urdf放到`rl_sar/src/robots/<ROBOT>_description/urdf`路径下并命名为`<ROBOT>.urdf`，并在`rl_sar/src/robots/<ROBOT>_description/config`路径下创建命名空间为`<ROBOT>_gazebo`的关节配置文件
+2. 将训练好的RL模型文件放到`rl_sar/src/rl_sar/models/<ROBOT>`路径下
+3. 在`rl_sar/src/rl_sar/models/<ROBOT>`中新建config.yaml文件，参考`rl_sar/src/rl_sar/models/a1_isaacgym/config.yaml`文件修改其中参数
+4. 若需要运行仿真，则参考`rl_sar/src/rl_sar/launch`路径下的launch文件自行修改
+5. 若需要运行实物，则参考`rl_sar/src/rl_sar/src/rl_real_a1.cpp`文件自行修改
 
 ## 参考
 
diff --git a/src/rl_sar/config.yaml b/src/rl_sar/config.yaml
deleted file mode 100644
index 5eaff85..0000000
--- a/src/rl_sar/config.yaml
+++ /dev/null
@@ -1,257 +0,0 @@
-a1:
-  model_name: "model_0702.pt"
-  framework: "isaacgym"
-  rows: 4
-  cols: 3
-  dt: 0.005
-  decimation: 4
-  num_observations: 45
-  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: [80, 80, 80, 
-             80, 80, 80, 
-             80, 80, 80, 
-             80, 80, 80] 
-  fixed_kd: [3, 3, 3, 
-             3, 3, 3, 
-             3, 3, 3, 
-             3, 3, 3] 
-  hip_scale_reduction: 0.5
-  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, 1.0]
-  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] 
-  joint_controller_names: ["FL_hip_controller", "FL_thigh_controller", "FL_calf_controller",
-                           "FR_hip_controller", "FR_thigh_controller", "FR_calf_controller",
-                           "RL_hip_controller", "RL_thigh_controller", "RL_calf_controller",
-                           "RR_hip_controller", "RR_thigh_controller", "RR_calf_controller"]
-
-gr1t1:
-  model_name: "model_4000_jit.pt"
-  framework: "isaacgym"
-  rows: 2
-  cols: 5
-  dt: 0.001
-  decimation: 20
-  num_observations: 39
-  clip_obs: 100.0
-  clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
-                       -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]
-  clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691,
-                       0.4391, 1.0491, 1.0491, 2.2691, 0.8691]
-  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]
-  hip_scale_reduction: 1.0
-  hip_scale_reduction_indices: []
-  num_of_dofs: 10
-  action_scale: 1.0
-  lin_vel_scale: 1.0
-  ang_vel_scale: 1.0
-  dof_pos_scale: 1.0
-  dof_vel_scale: 1.0
-  commands_scale: [1.0, 1.0, 1.0]
-  torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0,
-                  60.0, 45.0, 130.0, 130.0, 16.0]
-  default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618, 
-                    0.0, 0.0, -0.2618, 0.5236, -0.2618]
-  joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", 
-                           "r_hip_roll_controller", "r_hip_yaw_controller", "r_hip_pitch_controller", "r_knee_pitch_controller", "r_ankle_pitch_controller"]
-
-gr1t2:
-  model_name: "model_4000_jit.pt"
-  framework: "isaacgym"
-  rows: 2
-  cols: 5
-  dt: 0.001
-  decimation: 20
-  num_observations: 39
-  clip_obs: 100.0
-  clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
-                       -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]
-  clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691,
-                       0.4391, 1.0491, 1.0491, 2.2691, 0.8691]
-  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]
-  hip_scale_reduction: 1.0
-  hip_scale_reduction_indices: []
-  num_of_dofs: 10
-  action_scale: 1.0
-  lin_vel_scale: 1.0
-  ang_vel_scale: 1.0
-  dof_pos_scale: 1.0
-  dof_vel_scale: 1.0
-  commands_scale: [1.0, 1.0, 1.0]
-  torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0,
-                  60.0, 45.0, 130.0, 130.0, 16.0]
-  default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618, 
-                    0.0, 0.0, -0.2618, 0.5236, -0.2618]
-  joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", 
-                           "r_hip_roll_controller", "r_hip_yaw_controller", "r_hip_pitch_controller", "r_knee_pitch_controller", "r_ankle_pitch_controller"]
-
-a1_isaaclab:
-  model_name: "policy.pt"
-  framework: "isaacsim"
-  rows: 4
-  cols: 3
-  dt: 0.005
-  decimation: 4
-  num_observations: 45
-  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: [80, 80, 80, 
-             80, 80, 80, 
-             80, 80, 80, 
-             80, 80, 80] 
-  fixed_kd: [3, 3, 3, 
-             3, 3, 3, 
-             3, 3, 3, 
-             3, 3, 3] 
-  hip_scale_reduction: 1.0
-  hip_scale_reduction_indices: []
-  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: [1.0, 1.0, 1.0]
-  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] 
-  joint_controller_names: ["FL_hip_controller", "FL_thigh_controller", "FL_calf_controller",
-                           "FR_hip_controller", "FR_thigh_controller", "FR_calf_controller",
-                           "RL_hip_controller", "RL_thigh_controller", "RL_calf_controller",
-                           "RR_hip_controller", "RR_thigh_controller", "RR_calf_controller"]
-
-gr1t1_isaaclab:
-  model_name: "policy.pt"
-  framework: "isaacsim"
-  rows: 2
-  cols: 5
-  dt: 0.001
-  decimation: 20
-  num_observations: 39
-  clip_obs: 100.0
-  clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
-                       -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]
-  clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691,
-                       0.4391, 1.0491, 1.0491, 2.2691, 0.8691]
-  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]
-  hip_scale_reduction: 1.0
-  hip_scale_reduction_indices: []
-  num_of_dofs: 10
-  action_scale: 1.0
-  lin_vel_scale: 1.0
-  ang_vel_scale: 1.0
-  dof_pos_scale: 1.0
-  dof_vel_scale: 1.0
-  commands_scale: [1.0, 1.0, 1.0]
-  torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0,
-                  60.0, 45.0, 130.0, 130.0, 16.0]
-  default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618, 
-                    0.0, 0.0, -0.2618, 0.5236, -0.2618]
-  joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", 
-                           "r_hip_roll_controller", "r_hip_yaw_controller", "r_hip_pitch_controller", "r_knee_pitch_controller", "r_ankle_pitch_controller"]
-
-gr1t2_isaaclab:
-  model_name: "policy.pt"
-  framework: "isaacsim"
-  rows: 2
-  cols: 5
-  dt: 0.001
-  decimation: 20
-  num_observations: 39
-  clip_obs: 100.0
-  clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
-                       -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]
-  clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691,
-                       0.4391, 1.0491, 1.0491, 2.2691, 0.8691]
-  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]
-  hip_scale_reduction: 1.0
-  hip_scale_reduction_indices: []
-  num_of_dofs: 10
-  action_scale: 1.0
-  lin_vel_scale: 1.0
-  ang_vel_scale: 1.0
-  dof_pos_scale: 1.0
-  dof_vel_scale: 1.0
-  commands_scale: [1.0, 1.0, 1.0]
-  torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0,
-                  60.0, 45.0, 130.0, 130.0, 16.0]
-  default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618, 
-                    0.0, 0.0, -0.2618, 0.5236, -0.2618]
-  joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", 
-                           "r_hip_roll_controller", "r_hip_yaw_controller", "r_hip_pitch_controller", "r_knee_pitch_controller", "r_ankle_pitch_controller"]
diff --git a/src/rl_sar/include/rl_sim.hpp b/src/rl_sar/include/rl_sim.hpp
index b6512a9..2477b88 100644
--- a/src/rl_sar/include/rl_sim.hpp
+++ b/src/rl_sar/include/rl_sim.hpp
@@ -31,7 +31,6 @@ private:
     void RobotControl();
 
     // history buffer
-    bool use_history = true;
     ObservationBuffer history_obs_buf;
     torch::Tensor history_obs;
 
@@ -65,6 +64,7 @@ private:
     void CmdvelCallback(const geometry_msgs::Twist::ConstPtr &msg);
 
     // others
+    std::string gazebo_model_name;
     int motiontime = 0;
     std::map<std::string, size_t> sorted_to_original_index;
     std::vector<double> mapped_joint_positions;
diff --git a/src/rl_sar/launch/gazebo_a1_isaaclab.launch b/src/rl_sar/launch/gazebo_a1_isaacgym.launch
similarity index 96%
rename from src/rl_sar/launch/gazebo_a1_isaaclab.launch
rename to src/rl_sar/launch/gazebo_a1_isaacgym.launch
index 964b226..d6e511b 100644
--- a/src/rl_sar/launch/gazebo_a1_isaaclab.launch
+++ b/src/rl_sar/launch/gazebo_a1_isaacgym.launch
@@ -1,9 +1,9 @@
 <launch>
     <arg name="wname" default="stairs"/>
     <arg name="rname" default="a1"/>
-    <param name="robot_name" type="str" value="$(arg rname)_isaaclab"/>
-    <param name="use_history" type="bool" value="false"/>
+    <param name="robot_name" type="str" value="$(arg rname)_isaacgym"/>
     <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
+    <param name="gazebo_model_name" type="str" value="$(arg rname)_gazebo"/>
     <arg name="robot_path" value="(find $(arg rname)_description)"/>
     <arg name="dollar" value="$"/>
 
diff --git a/src/rl_sar/launch/gazebo_a1.launch b/src/rl_sar/launch/gazebo_a1_isaacsim.launch
similarity index 94%
rename from src/rl_sar/launch/gazebo_a1.launch
rename to src/rl_sar/launch/gazebo_a1_isaacsim.launch
index a660845..245ff5f 100644
--- a/src/rl_sar/launch/gazebo_a1.launch
+++ b/src/rl_sar/launch/gazebo_a1_isaacsim.launch
@@ -1,9 +1,9 @@
 <launch>
     <arg name="wname" default="stairs"/>
     <arg name="rname" default="a1"/>
-    <param name="robot_name" type="str" value="$(arg rname)"/>
-    <param name="use_history" type="bool" value="true"/>
+    <param name="robot_name" type="str" value="$(arg rname)_isaacsim"/>
     <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
+    <param name="gazebo_model_name" type="str" value="$(arg rname)_gazebo"/>
     <arg name="robot_path" value="(find $(arg rname)_description)"/>
     <arg name="dollar" value="$"/>
 
diff --git a/src/rl_sar/launch/gazebo_gr1t1.launch b/src/rl_sar/launch/gazebo_gr1t1_isaacgym.launch
similarity index 94%
rename from src/rl_sar/launch/gazebo_gr1t1.launch
rename to src/rl_sar/launch/gazebo_gr1t1_isaacgym.launch
index 1ad42d7..e92169c 100644
--- a/src/rl_sar/launch/gazebo_gr1t1.launch
+++ b/src/rl_sar/launch/gazebo_gr1t1_isaacgym.launch
@@ -1,9 +1,9 @@
 <launch>
     <arg name="wname" default="stairs"/>
     <arg name="rname" default="gr1t1"/>
-    <param name="robot_name" type="str" value="$(arg rname)"/>
-    <param name="use_history" type="bool" value="false"/>
+    <param name="robot_name" type="str" value="$(arg rname)_isaacgym"/>
     <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
+    <param name="gazebo_model_name" type="str" value="$(arg rname)_gazebo"/>
     <arg name="robot_path" value="(find $(arg rname)_description)"/>
     <arg name="dollar" value="$"/>
 
diff --git a/src/rl_sar/launch/gazebo_gr1t2.launch b/src/rl_sar/launch/gazebo_gr1t2_isaacgym.launch
similarity index 94%
rename from src/rl_sar/launch/gazebo_gr1t2.launch
rename to src/rl_sar/launch/gazebo_gr1t2_isaacgym.launch
index 76f0d0e..92cea76 100644
--- a/src/rl_sar/launch/gazebo_gr1t2.launch
+++ b/src/rl_sar/launch/gazebo_gr1t2_isaacgym.launch
@@ -1,9 +1,9 @@
 <launch>
     <arg name="wname" default="stairs"/>
     <arg name="rname" default="gr1t2"/>
-    <param name="robot_name" type="str" value="$(arg rname)"/>
-    <param name="use_history" type="bool" value="false"/>
+    <param name="robot_name" type="str" value="$(arg rname)_isaacgym"/>
     <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
+    <param name="gazebo_model_name" type="str" value="$(arg rname)_gazebo"/>
     <arg name="robot_path" value="(find $(arg rname)_description)"/>
     <arg name="dollar" value="$"/>
 
diff --git a/src/rl_sar/library/rl_sdk/rl_sdk.cpp b/src/rl_sar/library/rl_sdk/rl_sdk.cpp
index d171ec6..30ad610 100644
--- a/src/rl_sar/library/rl_sdk/rl_sdk.cpp
+++ b/src/rl_sar/library/rl_sdk/rl_sdk.cpp
@@ -340,18 +340,24 @@ std::vector<T> ReadVectorFromYaml(const YAML::Node& node, const std::string& fra
     {
         return values;
     }
+    else
+    {
+        throw std::invalid_argument("Unsupported framework: " + framework);
+    }
 }
 
 void RL::ReadYaml(std::string robot_name)
 {
+    // The config file is located at "rl_sar/src/rl_sar/models/<robot_name>/config.yaml"
+    std::string config_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/" + robot_name + "/config.yaml";
     YAML::Node config;
     try
     {
-        config = YAML::LoadFile(CONFIG_PATH)[robot_name];
+        config = YAML::LoadFile(config_path)[robot_name];
     } catch(YAML::BadFile &e)
     {
 
-        std::cout << LOGGER::ERROR << "The file '" << CONFIG_PATH << "' does not exist" << std::endl;
+        std::cout << LOGGER::ERROR << "The file '" << config_path << "' does not exist" << std::endl;
         return;
     }
 
@@ -359,6 +365,7 @@ void RL::ReadYaml(std::string robot_name)
     this->params.framework = config["framework"].as<std::string>();
     int rows = config["rows"].as<int>();
     int cols = config["cols"].as<int>();
+    this->params.use_history = config["use_history"].as<bool>();
     this->params.dt = config["dt"].as<double>();
     this->params.decimation = config["decimation"].as<int>();
     this->params.num_observations = config["num_observations"].as<int>();
diff --git a/src/rl_sar/library/rl_sdk/rl_sdk.hpp b/src/rl_sar/library/rl_sdk/rl_sdk.hpp
index 51ab6c8..e861eb2 100644
--- a/src/rl_sar/library/rl_sdk/rl_sdk.hpp
+++ b/src/rl_sar/library/rl_sdk/rl_sdk.hpp
@@ -7,7 +7,6 @@
 #include <unistd.h>
 
 #include <yaml-cpp/yaml.h>
-#define CONFIG_PATH CMAKE_CURRENT_SOURCE_DIR "/config.yaml"
 
 namespace LOGGER {
     const char* const INFO    = "\033[0;37m[INFO]\033[0m ";
@@ -71,6 +70,7 @@ struct ModelParams
 {
     std::string model_name;
     std::string framework;
+    bool use_history;
     double dt;
     int decimation;
     int num_observations;
diff --git a/src/rl_sar/models/a1_isaacgym/config.yaml b/src/rl_sar/models/a1_isaacgym/config.yaml
new file mode 100644
index 0000000..0f11b42
--- /dev/null
+++ b/src/rl_sar/models/a1_isaacgym/config.yaml
@@ -0,0 +1,55 @@
+a1_isaacgym:
+  model_name: "model_0702.pt"
+  framework: "isaacgym"
+  rows: 4
+  cols: 3
+  use_history: True
+  dt: 0.005
+  decimation: 4
+  num_observations: 45
+  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: [80, 80, 80, 
+             80, 80, 80, 
+             80, 80, 80, 
+             80, 80, 80] 
+  fixed_kd: [3, 3, 3, 
+             3, 3, 3, 
+             3, 3, 3, 
+             3, 3, 3] 
+  hip_scale_reduction: 0.5
+  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, 1.0]
+  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] 
+  joint_controller_names: ["FL_hip_controller", "FL_thigh_controller", "FL_calf_controller",
+                           "FR_hip_controller", "FR_thigh_controller", "FR_calf_controller",
+                           "RL_hip_controller", "RL_thigh_controller", "RL_calf_controller",
+                           "RR_hip_controller", "RR_thigh_controller", "RR_calf_controller"]
diff --git a/src/rl_sar/models/a1/model_0501.pt b/src/rl_sar/models/a1_isaacgym/model_0501.pt
similarity index 100%
rename from src/rl_sar/models/a1/model_0501.pt
rename to src/rl_sar/models/a1_isaacgym/model_0501.pt
diff --git a/src/rl_sar/models/a1/model_0522.pt b/src/rl_sar/models/a1_isaacgym/model_0522.pt
similarity index 100%
rename from src/rl_sar/models/a1/model_0522.pt
rename to src/rl_sar/models/a1_isaacgym/model_0522.pt
diff --git a/src/rl_sar/models/a1/model_0526.pt b/src/rl_sar/models/a1_isaacgym/model_0526.pt
similarity index 100%
rename from src/rl_sar/models/a1/model_0526.pt
rename to src/rl_sar/models/a1_isaacgym/model_0526.pt
diff --git a/src/rl_sar/models/a1/model_0702.pt b/src/rl_sar/models/a1_isaacgym/model_0702.pt
similarity index 100%
rename from src/rl_sar/models/a1/model_0702.pt
rename to src/rl_sar/models/a1_isaacgym/model_0702.pt
diff --git a/src/rl_sar/models/a1_isaacsim/config.yaml b/src/rl_sar/models/a1_isaacsim/config.yaml
new file mode 100644
index 0000000..2c5f3d8
--- /dev/null
+++ b/src/rl_sar/models/a1_isaacsim/config.yaml
@@ -0,0 +1,55 @@
+a1_isaacsim:
+  model_name: "policy.pt"
+  framework: "isaacsim"
+  rows: 4
+  cols: 3
+  use_history: False
+  dt: 0.005
+  decimation: 4
+  num_observations: 45
+  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: [80, 80, 80, 
+             80, 80, 80, 
+             80, 80, 80, 
+             80, 80, 80] 
+  fixed_kd: [3, 3, 3, 
+             3, 3, 3, 
+             3, 3, 3, 
+             3, 3, 3] 
+  hip_scale_reduction: 1.0
+  hip_scale_reduction_indices: []
+  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: [1.0, 1.0, 1.0]
+  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] 
+  joint_controller_names: ["FL_hip_controller", "FL_thigh_controller", "FL_calf_controller",
+                           "FR_hip_controller", "FR_thigh_controller", "FR_calf_controller",
+                           "RL_hip_controller", "RL_thigh_controller", "RL_calf_controller",
+                           "RR_hip_controller", "RR_thigh_controller", "RR_calf_controller"]
diff --git a/src/rl_sar/models/a1_isaaclab/policy.pt b/src/rl_sar/models/a1_isaacsim/policy.pt
similarity index 100%
rename from src/rl_sar/models/a1_isaaclab/policy.pt
rename to src/rl_sar/models/a1_isaacsim/policy.pt
diff --git a/src/rl_sar/models/gr1t1_isaacgym/config.yaml b/src/rl_sar/models/gr1t1_isaacgym/config.yaml
new file mode 100644
index 0000000..7062f4d
--- /dev/null
+++ b/src/rl_sar/models/gr1t1_isaacgym/config.yaml
@@ -0,0 +1,37 @@
+gr1t1_isaacgym:
+  model_name: "model_4000_jit.pt"
+  framework: "isaacgym"
+  rows: 2
+  cols: 5
+  use_history: False
+  dt: 0.001
+  decimation: 20
+  num_observations: 39
+  clip_obs: 100.0
+  clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
+                       -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]
+  clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691,
+                       0.4391, 1.0491, 1.0491, 2.2691, 0.8691]
+  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]
+  hip_scale_reduction: 1.0
+  hip_scale_reduction_indices: []
+  num_of_dofs: 10
+  action_scale: 1.0
+  lin_vel_scale: 1.0
+  ang_vel_scale: 1.0
+  dof_pos_scale: 1.0
+  dof_vel_scale: 1.0
+  commands_scale: [1.0, 1.0, 1.0]
+  torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0,
+                  60.0, 45.0, 130.0, 130.0, 16.0]
+  default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618, 
+                    0.0, 0.0, -0.2618, 0.5236, -0.2618]
+  joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", 
+                           "r_hip_roll_controller", "r_hip_yaw_controller", "r_hip_pitch_controller", "r_knee_pitch_controller", "r_ankle_pitch_controller"]
diff --git a/src/rl_sar/models/gr1t1/model_4000_jit.pt b/src/rl_sar/models/gr1t1_isaacgym/model_4000_jit.pt
similarity index 100%
rename from src/rl_sar/models/gr1t1/model_4000_jit.pt
rename to src/rl_sar/models/gr1t1_isaacgym/model_4000_jit.pt
diff --git a/src/rl_sar/models/gr1t1_isaacsim/config.yaml b/src/rl_sar/models/gr1t1_isaacsim/config.yaml
new file mode 100644
index 0000000..8dc3319
--- /dev/null
+++ b/src/rl_sar/models/gr1t1_isaacsim/config.yaml
@@ -0,0 +1,37 @@
+gr1t1_isaacsim:
+  model_name: "policy.pt"
+  framework: "isaacsim"
+  rows: 2
+  cols: 5
+  use_history: False
+  dt: 0.001
+  decimation: 20
+  num_observations: 39
+  clip_obs: 100.0
+  clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
+                       -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]
+  clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691,
+                       0.4391, 1.0491, 1.0491, 2.2691, 0.8691]
+  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]
+  hip_scale_reduction: 1.0
+  hip_scale_reduction_indices: []
+  num_of_dofs: 10
+  action_scale: 1.0
+  lin_vel_scale: 1.0
+  ang_vel_scale: 1.0
+  dof_pos_scale: 1.0
+  dof_vel_scale: 1.0
+  commands_scale: [1.0, 1.0, 1.0]
+  torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0,
+                  60.0, 45.0, 130.0, 130.0, 16.0]
+  default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618, 
+                    0.0, 0.0, -0.2618, 0.5236, -0.2618]
+  joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", 
+                           "r_hip_roll_controller", "r_hip_yaw_controller", "r_hip_pitch_controller", "r_knee_pitch_controller", "r_ankle_pitch_controller"]
diff --git a/src/rl_sar/models/gr1t2_isaacgym/config.yaml b/src/rl_sar/models/gr1t2_isaacgym/config.yaml
new file mode 100644
index 0000000..87bbd25
--- /dev/null
+++ b/src/rl_sar/models/gr1t2_isaacgym/config.yaml
@@ -0,0 +1,37 @@
+gr1t2_isaacgym:
+  model_name: "model_4000_jit.pt"
+  framework: "isaacgym"
+  rows: 2
+  cols: 5
+  use_history: False
+  dt: 0.001
+  decimation: 20
+  num_observations: 39
+  clip_obs: 100.0
+  clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
+                       -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]
+  clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691,
+                       0.4391, 1.0491, 1.0491, 2.2691, 0.8691]
+  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]
+  hip_scale_reduction: 1.0
+  hip_scale_reduction_indices: []
+  num_of_dofs: 10
+  action_scale: 1.0
+  lin_vel_scale: 1.0
+  ang_vel_scale: 1.0
+  dof_pos_scale: 1.0
+  dof_vel_scale: 1.0
+  commands_scale: [1.0, 1.0, 1.0]
+  torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0,
+                  60.0, 45.0, 130.0, 130.0, 16.0]
+  default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618, 
+                    0.0, 0.0, -0.2618, 0.5236, -0.2618]
+  joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", 
+                           "r_hip_roll_controller", "r_hip_yaw_controller", "r_hip_pitch_controller", "r_knee_pitch_controller", "r_ankle_pitch_controller"]
diff --git a/src/rl_sar/models/gr1t2/model_4000_jit.pt b/src/rl_sar/models/gr1t2_isaacgym/model_4000_jit.pt
similarity index 100%
rename from src/rl_sar/models/gr1t2/model_4000_jit.pt
rename to src/rl_sar/models/gr1t2_isaacgym/model_4000_jit.pt
diff --git a/src/rl_sar/models/gr1t2_isaacsim/config.yaml b/src/rl_sar/models/gr1t2_isaacsim/config.yaml
new file mode 100644
index 0000000..d09a118
--- /dev/null
+++ b/src/rl_sar/models/gr1t2_isaacsim/config.yaml
@@ -0,0 +1,37 @@
+gr1t2_isaacsim:
+  model_name: "policy.pt"
+  framework: "isaacsim"
+  rows: 2
+  cols: 5
+  use_history: False
+  dt: 0.001
+  decimation: 20
+  num_observations: 39
+  clip_obs: 100.0
+  clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
+                       -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]
+  clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691,
+                       0.4391, 1.0491, 1.0491, 2.2691, 0.8691]
+  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]
+  hip_scale_reduction: 1.0
+  hip_scale_reduction_indices: []
+  num_of_dofs: 10
+  action_scale: 1.0
+  lin_vel_scale: 1.0
+  ang_vel_scale: 1.0
+  dof_pos_scale: 1.0
+  dof_vel_scale: 1.0
+  commands_scale: [1.0, 1.0, 1.0]
+  torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0,
+                  60.0, 45.0, 130.0, 130.0, 16.0]
+  default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618, 
+                    0.0, 0.0, -0.2618, 0.5236, -0.2618]
+  joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", 
+                           "r_hip_roll_controller", "r_hip_yaw_controller", "r_hip_pitch_controller", "r_knee_pitch_controller", "r_ankle_pitch_controller"]
diff --git a/src/rl_sar/scripts/rl_sdk.py b/src/rl_sar/scripts/rl_sdk.py
index 8fe1174..5cdbc4b 100644
--- a/src/rl_sar/scripts/rl_sdk.py
+++ b/src/rl_sar/scripts/rl_sdk.py
@@ -6,7 +6,6 @@ from pynput import keyboard
 from enum import Enum, auto
 
 BASE_PATH = os.path.join(os.path.dirname(__file__), "../")
-CONFIG_PATH = os.path.join(BASE_PATH, "config.yaml")
 
 class LOGGER:
     INFO = "\033[0;37m[INFO]\033[0m "
@@ -65,6 +64,7 @@ class ModelParams:
     def __init__(self):
         self.model_name = None
         self.framework = None
+        self.use_history = None
         self.dt = None
         self.decimation = None
         self.num_observations = None
@@ -338,19 +338,24 @@ class RL:
             return transposed_values
         elif framework == "isaacgym":
             return values
+        else:
+            raise ValueError(f"Unsupported framework: {framework}")
 
     def ReadYaml(self, robot_name):
+        # The config file is located at "rl_sar/src/rl_sar/models/<robot_name>/config.yaml"
+        config_path = os.path.join(BASE_PATH, "models", robot_name, "config.yaml")
         try:
-            with open(CONFIG_PATH, 'r') as f:
+            with open(config_path, 'r') as f:
                 config = yaml.safe_load(f)[robot_name]
         except FileNotFoundError as e:
-            print(LOGGER.ERROR + "The file '{CONFIG_PATH}' does not exist")
+            print(LOGGER.ERROR + f"The file '{config_path}' does not exist")
             return
 
         self.params.model_name = config["model_name"]
         self.params.framework = config["framework"]
         rows = config["rows"]
         cols = config["cols"]
+        self.params.use_history = config["use_history"]
         self.params.dt = config["dt"]
         self.params.decimation = config["decimation"]
         self.params.num_observations = config["num_observations"]
diff --git a/src/rl_sar/scripts/rl_sim.py b/src/rl_sar/scripts/rl_sim.py
index d1482a2..b7fd821 100644
--- a/src/rl_sar/scripts/rl_sim.py
+++ b/src/rl_sar/scripts/rl_sim.py
@@ -36,8 +36,7 @@ class RL_Sim(RL):
         self.ReadYaml(self.robot_name)
 
         # history
-        self.use_history = rospy.get_param("use_history", "")
-        if self.use_history:
+        if self.params.use_history:
             self.history_obs_buf = ObservationBuffer(1, self.params.num_observations, 6)
 
         # Due to the fact that the robot_state_publisher sorts the joint names alphabetically,
@@ -75,6 +74,7 @@ class RL_Sim(RL):
         self.joint_state_subscriber = rospy.Subscriber(joint_states_topic, JointState, self.JointStatesCallback, queue_size=10)
 
         # service
+        self.gazebo_model_name = rospy.get_param("gazebo_model_name", "")
         self.gazebo_set_model_state_client = rospy.ServiceProxy("/gazebo/set_model_state", SetModelState)
         self.gazebo_pause_physics_client = rospy.ServiceProxy("/gazebo/pause_physics", Empty)
         self.gazebo_unpause_physics_client = rospy.ServiceProxy("/gazebo/unpause_physics", Empty)
@@ -135,8 +135,7 @@ class RL_Sim(RL):
     def RobotControl(self):
         if self.control.control_state == STATE.STATE_RESET_SIMULATION:
             set_model_state = SetModelStateRequest().model_state
-            gazebo_model_name = f"{self.robot_name}_gazebo"
-            set_model_state.model_name = gazebo_model_name
+            set_model_state.model_name = self.gazebo_model_name
             set_model_state.pose.position.z = 1.0
             set_model_state.reference_frame = "world"
             self.gazebo_set_model_state_client(set_model_state)
@@ -217,7 +216,7 @@ class RL_Sim(RL):
     def Forward(self):
         torch.set_grad_enabled(False)
         clamped_obs = self.ComputeObservation()
-        if self.use_history:
+        if self.params.use_history:
             self.history_obs_buf.insert(clamped_obs)
             history_obs = self.history_obs_buf.get_obs_vec(np.arange(6))
             actions = self.model.forward(history_obs)
diff --git a/src/rl_sar/src/rl_real_a1.cpp b/src/rl_sar/src/rl_real_a1.cpp
index 6203ac4..479ef4e 100644
--- a/src/rl_sar/src/rl_real_a1.cpp
+++ b/src/rl_sar/src/rl_real_a1.cpp
@@ -8,7 +8,7 @@ RL_Real rl_sar;
 RL_Real::RL_Real() : unitree_safe(UNITREE_LEGGED_SDK::LeggedType::A1), unitree_udp(UNITREE_LEGGED_SDK::LOWLEVEL)
 {
     // read params from yaml
-    this->robot_name = "a1";
+    this->robot_name = "a1_isaacgym";
     this->ReadYaml(this->robot_name);
 
     // history
diff --git a/src/rl_sar/src/rl_sim.cpp b/src/rl_sar/src/rl_sim.cpp
index f203ea4..2bfee62 100644
--- a/src/rl_sar/src/rl_sim.cpp
+++ b/src/rl_sar/src/rl_sim.cpp
@@ -12,8 +12,7 @@ RL_Sim::RL_Sim()
     this->ReadYaml(this->robot_name);
 
     // history
-    nh.param<bool>("use_history", this->use_history, "");
-    if(this->use_history)
+    if(this->params.use_history)
     {
         this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, 6);
     }
@@ -56,6 +55,7 @@ RL_Sim::RL_Sim()
     this->joint_state_subscriber = nh.subscribe<sensor_msgs::JointState>(this->ros_namespace + "joint_states", 10, &RL_Sim::JointStatesCallback, this);
 
     // service
+    nh.param<std::string>("gazebo_model_name", this->gazebo_model_name, "");
     this->gazebo_set_model_state_client = nh.serviceClient<gazebo_msgs::SetModelState>("/gazebo/set_model_state");
     this->gazebo_pause_physics_client = nh.serviceClient<std_srvs::Empty>("/gazebo/pause_physics");
     this->gazebo_unpause_physics_client = nh.serviceClient<std_srvs::Empty>("/gazebo/unpause_physics");
@@ -150,8 +150,7 @@ void RL_Sim::RobotControl()
     if(this->control.control_state == STATE_RESET_SIMULATION)
     {
         gazebo_msgs::SetModelState set_model_state;
-        std::string gazebo_model_name = this->robot_name + "_gazebo";
-        set_model_state.request.model_state.model_name = gazebo_model_name;
+        set_model_state.request.model_state.model_name = this->gazebo_model_name;
         set_model_state.request.model_state.pose.position.z = 1.0;
         set_model_state.request.model_state.reference_frame = "world";
         this->gazebo_set_model_state_client.call(set_model_state);
@@ -265,7 +264,7 @@ torch::Tensor RL_Sim::Forward()
     torch::autograd::GradMode::set_enabled(false);
     torch::Tensor clamped_obs = this->ComputeObservation();
     torch::Tensor actions;
-    if(this->use_history)
+    if(this->params.use_history)
     {
         this->history_obs_buf.insert(clamped_obs);
         this->history_obs = this->history_obs_buf.get_obs_vec({0, 1, 2, 3, 4, 5});