# -*- coding: utf-8 -*-
"""Go1 RobotLab policy configuration for RoboGauge."""

from robogauge.tasks.robots.go1.go1_config import Go1Config, Go1TerrainConfig


class Go1LabConfig(Go1Config):
    """Go1 configuration aligned with RobotLab observation scaling."""

    class control(Go1Config.control):
        model_path = "{ROBOGAUGE_ROOT_DIR}/resources/models/go1/policy_robotlab_3500.pt"

        class scales(Go1Config.control.scales):
            cmd = [1.0, 1.0, 1.0]


class Go1LabTerrainConfig(Go1LabConfig, Go1TerrainConfig):
    """Go1 RobotLab policy configuration for terrain tasks."""