policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_137000_0.6365.pt"
# policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_cts_150k.pt"

# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/flat.xml"
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/race_track.xml"
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/stairs.xml"
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_slope.xml"
xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_stairs.xml"

# Total simulation time
simulation_duration: 60000000.0
# Simulation time step
simulation_dt: 0.002
# Controller update frequency (meets the requirement of simulation_dt * controll_decimation=0.02; 50Hz)
control_decimation: 10

kps: [20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0] 
kds: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] 

default_angles: [0.1,  0.8,  -1.5,  -0.1, 0.8, -1.5, 
                 0.1,  1.0,  -1.5,  -0.1, 1.0, -1.5] 

lin_vel_scale: 2.0
ang_vel_scale: 0.25 
dof_pos_scale: 1.0 
dof_vel_scale: 0.05 
action_scale: 0.25 
cmd_scale: [2.0, 2.0, 0.25]
num_actions: 12
num_obs: 45
max_cmd: [2.0, 1.0, 2.5]

cmd_init: [1.0, 0.0, 0.0]

mujoco_joint_names: [
  "FL_hip_joint",
  "FL_thigh_joint",
  "FL_calf_joint",
  "FR_hip_joint",
  "FR_thigh_joint",
  "FR_calf_joint",
  "RL_hip_joint",
  "RL_thigh_joint",
  "RL_calf_joint",
  "RR_hip_joint",
  "RR_thigh_joint",
  "RR_calf_joint"
]

# IsaacGym is same as Mujoco joint names
model_joint_names: [
  "FL_hip_joint",
  "FL_thigh_joint",
  "FL_calf_joint",
  "FR_hip_joint",
  "FR_thigh_joint",
  "FR_calf_joint",
  "RL_hip_joint",
  "RL_thigh_joint",
  "RL_calf_joint",
  "RR_hip_joint",
  "RR_thigh_joint",
  "RR_calf_joint"
]
