# Go1 No-Linevel Terrain Walk - ONNX Policy Metadata
env: go1-stairs-terrain-walk-no-linevel
obs_dim: 57
action_dim: 12
hidden_dims: [512, 256, 128]

# Observation layout (57 dims, NO linear velocity):
  [0:3]   gyro * ang_vel_scale
  [3:6]   gravity (body frame)
  [6:18]  joint_angle_deviation * dof_pos_scale
  [18:30] joint_vel * dof_vel_scale
  [30:42] last_actions (raw)
  [42:45] commands [vx*2.0, vy*2.0, wz*0.25]
  [45:57] foot_contact_forces (body frame, raw)

# Joint order: ['FR_hip', 'FR_thigh', 'FR_calf', 'FL_hip', 'FL_thigh', 'FL_calf', 'RR_hip', 'RR_thigh', 'RR_calf', 'RL_hip', 'RL_thigh', 'RL_calf']
default_angles: [-0.0, 0.8999999761581421, -1.7999999523162842, 0.0, 0.8999999761581421, -1.7999999523162842, -0.0, 0.8999999761581421, -1.7999999523162842, 0.0, 0.8999999761581421, -1.7999999523162842]
action_scale: 0.05
kp: 80.0
kd: 1.0
clip_actions: 23.7
clip_observations: 100.0

# Observation scales:
  ang_vel: 0.25
  dof_pos: 1.0
  dof_vel: 0.05
  contact_force: 1.0
  command_scale: [2.0, 2.0, 0.25]
