model_path: "../mypolicy/model/policy.onnx"
motor_num: 29
actions_size: 23
dt: 0.01
warm_start_time: 0.0
command_clip: 1.0

sim:
  mujoco_timestep: 0.005

joint_names: [
  hip_pitch_l_joint, hip_pitch_r_joint, waist_yaw_joint,
  hip_roll_l_joint, hip_roll_r_joint, waist_roll_joint,
  hip_yaw_l_joint, hip_yaw_r_joint, waist_pitch_joint,
  knee_pitch_l_joint, knee_pitch_r_joint,
  shoulder_pitch_l_joint, shoulder_pitch_r_joint,
  ankle_pitch_l_joint, ankle_pitch_r_joint,
  shoulder_roll_l_joint, shoulder_roll_r_joint,
  ankle_roll_l_joint, ankle_roll_r_joint,
  shoulder_yaw_l_joint, shoulder_yaw_r_joint,
  elbow_pitch_l_joint, elbow_pitch_r_joint
]

control:
  action_scale: 0.25
  decimation: 2

gait:
  gait_air_ratio_l: 0.6
  gait_air_ratio_r: 0.6
  gait_phase_offset_l: 0.6
  gait_phase_offset_r: 0.1
  gait_cycle: 0.64

normalization:
  clip_scales:
    clip_observations: 100.0
    clip_actions: 100.0

size:
  num_hist: 10
  observations_size: 84

gains:
  kp: [
    300.0, 300.0, 400.0,
    300.0, 300.0, 400.0,
    150.0, 150.0, 400.0,
    350.0, 350.0,
    150.0, 150.0,
    30.0, 30.0,
    50.0, 50.0,
    16.8, 16.8,
    50.0, 50.0,
    150.0, 150.0
  ]
  kd: [
    10.0, 10.0, 5.0,
    10.0, 10.0, 10.0,
    5.0, 5.0, 10.0,
    10.0, 10.0,
    7.5, 7.5,
    2.5, 2.5,
    2.5, 2.5,
    1.4, 1.4,
    2.5, 2.5,
    5.0, 5.0
  ]

init_state:
  default_joint_angles: [
    0.0, 0.0, 0.0,
    -0.5, -0.5, 0.0,
    0.0, 0.0, 0.0,
    1.0, 1.0,
    0.0, 0.0,
    -0.5, -0.5,
    0.2, -0.2,
    0.0, 0.0,
    0.0, 0.0,
    -0.3, -0.3
  ]