model:
  path: "/home/rc2/work/rcwork/real/rc_mjlab/rc_mjlab/model_rough.pt"
  obs_dim: 53
  action_dim: 16
  enable_zero_cmd_suppression: true

observation:
  terms:
    - name: base_ang_vel
      dim: 3
      scale: 0.25
    - name: projected_gravity
      dim: 3
    - name: command
      dim: 3
    - name: joint_pos_rel
      dim: 12
    - name: joint_vel_rel
      dim: 12
      scale: 0.05
    - name: wheel_vel
      dim: 4
      scale: 0.05
    - name: last_actions
      dim: 16

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
  default_dof_pos:
    - 0.0
    - 0.9
    - -1.8
    - 0.0
    - 0.9
    - -1.8
    - 0.0
    - 0.9
    - -1.8
    - 0.0
    - 0.9
    - -1.8
    - 0.0
    - 0.0
    - 0.0
    - 0.0

control:
  control_freq_hz: 50
  leg_lpf_hz: 5
  wheel_lpf_hz: 15

safety:
  zero_cmd_lin_thresh: 0.05
  zero_cmd_yaw_thresh: 0.05
  zero_yaw_rate_thresh: 0.10