diff --git a/src/rl_sar/CMakeLists.txt b/src/rl_sar/CMakeLists.txt
index d7dd6ff..c3c229e 100644
--- a/src/rl_sar/CMakeLists.txt
+++ b/src/rl_sar/CMakeLists.txt
@@ -3,6 +3,8 @@ project(rl_sar)
 
 add_definitions(-DCMAKE_CURRENT_SOURCE_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
 
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 set(CMAKE_BUILD_TYPE Debug)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g")
 
diff --git a/src/rl_sar/config.yaml b/src/rl_sar/config.yaml
index bf51578..1ec3d61 100644
--- a/src/rl_sar/config.yaml
+++ b/src/rl_sar/config.yaml
@@ -1,5 +1,5 @@
 a1:
-  model_name: "model.pt"
+  model_name: "model_0501.pt"
   num_observations: 45
   clip_obs: 100.0
   clip_actions: 100.0
diff --git a/src/rl_sar/models/a1/model_0501.pt b/src/rl_sar/models/a1/model_0501.pt
new file mode 100644
index 0000000..c1b8c38
Binary files /dev/null and b/src/rl_sar/models/a1/model_0501.pt differ
diff --git a/src/rl_sar/src/rl_real_a1.cpp b/src/rl_sar/src/rl_real_a1.cpp
index cc0445e..35e7c1f 100644
--- a/src/rl_sar/src/rl_real_a1.cpp
+++ b/src/rl_sar/src/rl_real_a1.cpp
@@ -185,7 +185,8 @@ void RL_Real::RobotControl()
         }
     }
 
-    // safe.PowerProtect(cmd, state, 7);
+    safe.PowerProtect(cmd, state, 7);
+    safe.PositionProtect(cmd, state);
     udp.SetSend(cmd);
 }