policy_path: "{ROOT_DIR}/deploy/pre_train/go1/policy.pt"
xml_path: "{ROOT_DIR}/resources/go1/stairs_and_slope.xml"

render_fps: 300
video_fps: 60
save_video: false

simulation_duration: 60000000.0
simulation_dt: 0.002
control_decimation: 10
base_init_pos: [0.0, 0.0, 0.34]
base_init_quat: [1.0, 0.0, 0.0, 0.0]

# Deployment defaults to no extra delay. Training randomizes 0-4 physics steps;
# this script's delay buffer is measured in 20 ms policy steps instead.
actuator_delay_min: 0
actuator_delay_max: 0
actuator_delay_seed: 0

kps: [28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0, 28.0]
kds: [0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7]

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: [0.5, 0.0, 0.0]
history_len: 10

mujoco_joint_names: &joint_names
  [FR_hip_joint, FR_thigh_joint, FR_calf_joint,
   FL_hip_joint, FL_thigh_joint, FL_calf_joint,
   RR_hip_joint, RR_thigh_joint, RR_calf_joint,
   RL_hip_joint, RL_thigh_joint, RL_calf_joint]
model_joint_names: *joint_names