# Simulation parameters
simulation_duration: 60.0
simulation_dt: 0.002
control_decimation: 10

# PD gains
kps: [
    150, 150, 150, 300, 40, 40,
    150, 150, 150, 300, 40, 40, 
    250, 250, 250,
    100, 100, 40, 40, 20, 20, 20,
    100, 100, 40, 40, 20, 20, 20
]
kds: [
    2, 2, 2, 4, 2, 2,
    2, 2, 2, 4, 2, 2,
    5, 5, 5,
    5, 5, 2, 2, 2, 2, 2,
    5, 5, 2, 2, 2, 2, 2
]

# Default joint angles for legs
default_angles: [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0,
                 -0.1, 0.0, 0.0, 0.3, -0.2, 0.0,
                 0.0, 0.0, 0.0]
# Scaling factors
ang_vel_scale: 0.25
dof_pos_scale: 1.0
dof_vel_scale: 0.05
action_scale: 0.25
cmd_scale: [2.0, 2.0, 0.25]

# Number of actions and observations
num_actions: 15
num_obs: 570  # 76 * 6 (observation dimension * history length)
obs_history_len: 6

# Initial commands
cmd_init: [0.0, 0.0, 0.0]
height_cmd: 0.74
freq_cmd: 1.50
roll_cmd: 0.0
pitch_cmd: 0.0
yaw_cmd: 0.0