can1_port: "can0"
can2_port: "can1"
motor_model: "rs-02"
debug: false

control_freq: 50
policy_freq: 50
motor_freq: 200
status_freq: 10
policy_stale_warn_ms: 60.0
policy_timeout_ms: 150.0
imu_lib_path: null

controller:
  # Runtime policy gains should stay softer than stand/startup gains. This
  # follows the same separation used by rl_sar fixed_kp/fixed_kd vs rl_kp/rl_kd
  # and avoids high-stiffness zero-command oscillation after policy release.
  kp_leg: 50.0
  kd_leg: 1.5
  hold_kp_leg: 80.0
  hold_kd_leg: 4.0
  kd_wheel: 1.0
  max_vx: 0.8
  max_vy: 0.3
  max_yaw_rate: 0.5

policy:
  enable_zero_cmd_suppression: true
  hold_zero_command_pose: true
  command_release_s: 0.35
  require_active_command_to_release: true
  zero_cmd_use_yaw_rate: false
  clip_obs: 100.0
  action_scale: [0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 5.0, 5.0, 5.0, 5.0]
  release_command_hold_s: 0.12
  release_posture_max_err: 0.35
  release_target_blend_s: 0.30

stand_balance:
  enabled: true
  height: 0.33
  kp_roll: 0.85
  pitch_compensation_enabled: false
  kp_pitch: 0.25
  kd_roll_rate: 0.03
  kd_pitch_rate: 0.03
  pitch_deadband_deg: 2.0
  pitch_corr_clip: 0.04
  pitch_corr_filter_alpha: 0.10
  pitch_front_sign: -1.0
  lateral_lean_gain: 0.0
  hip_abduction_clip: 0.45
  hip_pitch_clip: [-1.0, 2.5]
  knee_clip: [-2.6, -0.3]
  stable_roll_deg: 6.0
  stable_pitch_deg: 8.0
  stable_gyro_deg_s: 45.0
  enter_hold_s: 1.0
  profile_h: [0.157, 0.248, 0.311, 0.366, 0.411, 0.448]
  profile_hip: [1.5, 1.2, 1.0, 0.8, 0.6, 0.4]
  profile_knee: [-2.5, -2.1, -1.8, -1.5, -1.2, -0.9]

startup:
  enabled: true
  wait_for_enter_before_rise: false
  soft_hold_duration: 1.0
  ramp_kp_time: 1.0
  transition_time_min: 2.0
  transition_time_max: 6.0
  transition_seconds_per_rad: 1.5
  timeout_extra: 3.0
  imu_fresh_wait_s: 1.0
  hold_time: 1.0
  settle_pos_threshold: 0.30
  settle_vel_threshold: 0.6
  progress_log_interval: 0.5
  max_dev_warn: 1.5
  max_dev_abort: 3.0
  require_user_confirm: true

safety:
  enabled: true
  max_target_offset: 0.6
  hard_target_offset: 1.2
  max_ang_vel: 10.0
  max_tilt_z: -0.3
  clip_to_brake: 0
  imu_age_warn_ms: 60.0
  imu_age_stop_ms: 200.0

remote:
  enabled: true
  port: "/dev/ttyACM0"
  baudrate: 100000
  timeout: 0.02
  axis_deadzone: 50
  active_threshold: 50
  axis_full_scale: 660.0
  max_vx: 0.3
  max_vy: 0.3
  max_yaw_rate: 0.3
  invert_vx: true
  invert_vy: false
  invert_yaw: true

command_filter:
  enabled: true
  max_vx_acc: 1.0
  max_vy_acc: 1.0
  max_yaw_acc: 1.5

log_dir: "logs"
log_every: 1