diff --git a/src/rl_sar/models/openloong_isaacsim/config.yaml b/src/rl_sar/models/openloong_isaacsim/config.yaml
index ab7c994..0d14e24 100644
--- a/src/rl_sar/models/openloong_isaacsim/config.yaml
+++ b/src/rl_sar/models/openloong_isaacsim/config.yaml
@@ -9,18 +9,18 @@ openloong_isaacsim:
   num_observations: 48
   observations: ["lin_vel", "ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
   clip_obs: 100.0
-  clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991, -1.3991,
-                       -1.1391, -1.0491, -2.0991, -0.4391, -1.3991, -1.3991]
-  clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691, 0.8691,
-                       0.4391, 1.0491, 1.0491, 2.2691, 0.8691, 0.8691]
-  rl_kp: [57.0, 43.0, 114.0, 114.0, 15.3, 15.3,
-          57.0, 43.0, 114.0, 114.0, 15.3, 15.3]
-  rl_kd: [5.7, 4.3, 11.4, 11.4, 1.5, 1.5,
-          5.7, 4.3, 11.4, 11.4, 1.5, 1.5]
-  fixed_kp: [57.0, 43.0, 114.0, 114.0, 15.3, 15.3,
-             57.0, 43.0, 114.0, 114.0, 15.3, 15.3]
-  fixed_kd: [5.7, 4.3, 11.4, 11.4, 1.5, 1.5,
-             5.7, 4.3, 11.4, 11.4, 1.5, 1.5]
+  clip_actions_lower: [-10000, -10000, -10000, -10000, -10000, -10000,
+                       -10000, -10000, -10000, -10000, -10000, -10000]
+  clip_actions_upper: [10000, 10000, 10000, 10000, 10000, 10000,
+                       10000, 10000, 10000, 10000, 10000, 10000]
+  rl_kp: [251.625, 362.5214, 200, 200, 10.9805, 10.9805,
+          251.625, 362.5214, 200, 200, 10.9805, 10.9805]
+  rl_kd: [10, 10, 10, 10, 10, 10,
+          10, 10, 10, 10, 10, 10]
+  fixed_kp: [251.625, 362.5214, 200, 200, 10.9805, 10.9805,
+             251.625, 362.5214, 200, 200, 10.9805, 10.9805]
+  fixed_kd: [10, 10, 10, 10, 10, 10,
+             10, 10, 10, 10, 10, 10]
   hip_scale_reduction: 1.0
   hip_scale_reduction_indices: []
   num_of_dofs: 12
@@ -30,8 +30,8 @@ openloong_isaacsim:
   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, 16.0,
-                  60.0, 45.0, 130.0, 130.0, 16.0, 16.0]
+  torque_limits: [10000, 10000, 10000, 10000, 10000, 10000,
+                  10000, 10000, 10000, 10000, 10000, 10000]
   default_dof_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
                     0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
   joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", "l_ankle_roll_controller",