policy_path: "{ROOT_DIR}/deploy/pre_train/go2/xxx.pt" # policy.pt exported by running scripts/rsl_rl/play.py

xml_path: "{ROOT_DIR}/resource/go2/stairs.xml"

render_fps: 240
video_fps: 60
save_video: false

# 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
base_init_pos: [0.0, 0.0, 0.57]
base_init_quat: [1.0, 0.0, 0.0, 0.0]

# Based on the implementation of IsaacLab's DelayedPDActuatorCfg.
actuator_delay_min: 0
actuator_delay_max: 0
actuator_delay_seed: 0

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_pos_scale: 0.25
cmd_scale: [1.0, 1.0, 1.0]
num_actions: 12
num_obs: 45
max_cmd: [1.0, 1.0, 1.0]

cmd_init: [1.0, 0.0, 0.0]
history_len: 5

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",
]

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",
]
