model:
  path: "policies/model_rough.onnx"
  source_pt: "policies/model_rough.pt"
  backend: "onnxruntime"
  obs_dim: 53
  action_dim: 16
  clip_obs: 100.0
  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:
  joint_order:
    - fl_hip_abduction
    - fl_hip_pitch
    - fl_knee
    - fr_hip_abduction
    - fr_hip_pitch
    - fr_knee
    - rl_hip_abduction
    - rl_hip_pitch
    - rl_knee
    - rr_hip_abduction
    - rr_hip_pitch
    - rr_knee
    - fl_wheel
    - fr_wheel
    - rl_wheel
    - rr_wheel
  wheel_indices: [12, 13, 14, 15]
  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
  runtime_kp_leg: 50.0
  runtime_kd_leg: 1.5
  hold_kp_leg: 80.0
  hold_kd_leg: 4.0
  kd_wheel: 1.0
  leg_lpf_hz: 5
  wheel_lpf_hz: 15
  command_filter:
    enabled: true
    max_vx_acc: 1.0
    max_vy_acc: 1.0
    max_yaw_acc: 1.5

safety:
  zero_cmd_lin_thresh: 0.05
  zero_cmd_yaw_thresh: 0.05
  zero_yaw_rate_thresh: 0.10