run:
  init_state:
    # target angles [rad] when action = 0.0
    default_joint_angle:
      arm_l1_joint: 0.0
      arm_l2_joint: 0.2
      arm_l3_joint: 0.0
      arm_l4_joint: 0.0
      leg_l1_joint: 0.0
      leg_l2_joint: 0.0
      leg_l3_joint: -0.1495
      leg_l4_joint: 0.3215
      leg_l5_joint: -0.1720
      arm_r1_joint: 0.0
      arm_r2_joint: -0.2
      arm_r3_joint: 0.0
      arm_r4_joint: 0.0
      leg_r1_joint: 0.0
      leg_r2_joint: 0.0
      leg_r3_joint: -0.1495
      leg_r4_joint: 0.3215
      leg_r5_joint: -0.1720
  control:
    stiffness:
      arm_l1_joint: 30
      arm_l2_joint: 30
      arm_l3_joint: 30
      arm_l4_joint: 30
      leg_l1_joint: 80
      leg_l2_joint: 80
      leg_l3_joint: 120
      leg_l4_joint: 120
      leg_l5_joint: 15
      arm_r1_joint: 30
      arm_r2_joint: 30
      arm_r3_joint: 30
      arm_r4_joint: 30
      leg_r1_joint: 80
      leg_r2_joint: 80
      leg_r3_joint: 120
      leg_r4_joint: 120
      leg_r5_joint: 15
    damping:
      arm_l1_joint: 1
      arm_l2_joint: 1
      arm_l3_joint: 1
      arm_l4_joint: 1
      leg_l1_joint: 5
      leg_l2_joint: 5
      leg_l3_joint: 5
      leg_l4_joint: 5
      leg_l5_joint: 1
      arm_r1_joint: 1
      arm_r2_joint: 1
      arm_r3_joint: 1
      arm_r4_joint: 1
      leg_r1_joint: 5
      leg_r2_joint: 5
      leg_r3_joint: 5
      leg_r4_joint: 5
      leg_r5_joint: 1
    action_scale: 0.25
    decimation: 5
    cycle_time: 0.64
  normalization:
    clip_scales:
      clip_observations: 18.0
      clip_actions: 18.0
    obs_scales:
      lin_vel: 2
      ang_vel: 1
      dof_pos: 1
      dof_vel: 0.05
      quat: 1
      height_measurements: 5.0
  size:
    actions_size: 18
    observations_size: 64
    stack_size: 20
  axis_mappings:
    scalez: 1.0
    scalex: 1.3
    scaley: 0.5  

walk:
  init_state:
  # target angles [rad] when action = 0.0
    default_joint_angle:
      arm_l1_joint: 0.0
      arm_l2_joint: 0.3
      arm_l3_joint: 0.0
      arm_l4_joint: 0.0
      leg_l1_joint: 0.0
      leg_l2_joint: 0.0
      leg_l3_joint: -0.1495
      leg_l4_joint: 0.3215
      leg_l5_joint: -0.1720
      arm_r1_joint: 0.0
      arm_r2_joint: -0.3
      arm_r3_joint: 0.0
      arm_r4_joint: 0.0
      leg_r1_joint: 0.0
      leg_r2_joint: 0.0
      leg_r3_joint: -0.1495
      leg_r4_joint: 0.3215
      leg_r5_joint: -0.1720
  control:
    stiffness:
      arm_l1_joint: 30.0
      arm_l2_joint: 30.0
      arm_l3_joint: 30.0
      arm_l4_joint: 30.0
      leg_l1_joint: 90.0
      leg_l2_joint: 90.0
      leg_l3_joint: 120.0
      leg_l4_joint: 120.0
      leg_l5_joint: 15.0
      arm_r1_joint: 30.0
      arm_r2_joint: 30.0
      arm_r3_joint: 30.0
      arm_r4_joint: 30.0
      leg_r1_joint: 90.0
      leg_r2_joint: 90.0
      leg_r3_joint: 120.0
      leg_r4_joint: 120.0
      leg_r5_joint: 15.0
    damping:
      arm_l1_joint: 2
      arm_l2_joint: 2
      arm_l3_joint: 1
      arm_l4_joint: 2
      leg_l1_joint: 4
      leg_l2_joint: 4
      leg_l3_joint: 5
      leg_l4_joint: 5
      leg_l5_joint: 1
      arm_r1_joint: 2
      arm_r2_joint: 2
      arm_r3_joint: 1
      arm_r4_joint: 2
      leg_r1_joint: 4
      leg_r2_joint: 4
      leg_r3_joint: 5
      leg_r4_joint: 5
      leg_r5_joint: 1
    action_scale: 0.25
    decimation: 5
    cycle_time: 1.0
  normalization:
    clip_scales:
      clip_observations: 18.0
      clip_actions: 18.0
    obs_scales:
      lin_vel: 2
      ang_vel: 1
      dof_pos: 1
      dof_vel: 0.05
      quat: 1
      height_measurements: 5.0
  size:
    actions_size: 10
    observations_size: 38
    stack_size: 20
  axis_mappings:
    scalez: 0.8
    scalex: 1.0
    scaley: 0.3    
falltostand:
  init_state:
  # target angles [rad] when action = 0.0
    default_joint_angle:
      arm_l1_joint: 0.0
      arm_l2_joint: 0.17
      arm_l3_joint: 0.0
      arm_l4_joint: 0.0
      leg_l1_joint: 0.0
      leg_l2_joint: 0.0
      leg_l3_joint: -0.1495
      leg_l4_joint: 0.3215
      leg_l5_joint: -0.1720
      arm_r1_joint: 0.0
      arm_r2_joint: -0.17
      arm_r3_joint: 0.0
      arm_r4_joint: 0.0
      leg_r1_joint: 0.0
      leg_r2_joint: 0.0
      leg_r3_joint: -0.1495
      leg_r4_joint: 0.3215
      leg_r5_joint: -0.1720
  control:
    stiffness:
      arm_l1_joint: 30.0
      arm_l2_joint: 30.0
      arm_l3_joint: 18.0
      arm_l4_joint: 30.0
      leg_l1_joint: 100.0
      leg_l2_joint: 100.0
      leg_l3_joint: 120.0
      leg_l4_joint: 120.0
      leg_l5_joint: 15.0
      arm_r1_joint: 30.0
      arm_r2_joint: 30.0
      arm_r3_joint: 18.0
      arm_r4_joint: 30.0
      leg_r1_joint: 100.0
      leg_r2_joint: 100.0
      leg_r3_joint: 120.0
      leg_r4_joint: 120.0
      leg_r5_joint: 15.0
    damping:
      arm_l1_joint: 2
      arm_l2_joint: 2
      arm_l3_joint: 1
      arm_l4_joint: 2
      leg_l1_joint: 4
      leg_l2_joint: 4
      leg_l3_joint: 5
      leg_l4_joint: 5
      leg_l5_joint: 1
      arm_r1_joint: 2
      arm_r2_joint: 2
      arm_r3_joint: 1
      arm_r4_joint: 2
      leg_r1_joint: 4
      leg_r2_joint: 4
      leg_r3_joint: 5
      leg_r4_joint: 5
      leg_r5_joint: 1
    action_scale: 0.25
    decimation: 5
    cycle_time: 0.64
  normalization:
    clip_scales:
      clip_observations: 18.0
      clip_actions: 18.0
    obs_scales:
      lin_vel: 2
      ang_vel: 1
      dof_pos: 1
      dof_vel: 0.05
      quat: 1
      gravity: 1
      height_measurements: 5.0
  size:
    actions_size: 18
    observations_size: 48
    stack_size: 5
  axis_mappings:
    scalez: 0.8
    scalex: 1.0
    scaley: 0.3    
jump:
  init_state:
  # target angles [rad] when action = 0.0
    default_joint_angle:
      leg_l1_joint: -0.0
      leg_l2_joint: -0.0
      leg_l3_joint: -0.0
      leg_l4_joint: 0.0
      leg_l5_joint: -0.0
      leg_r1_joint: 0.0
      leg_r2_joint: 0.0
      leg_r3_joint: -0.0
      leg_r4_joint: 0.0
      leg_r5_joint: -0.0
  control:
    stiffness:
      leg_l1_joint: 80
      leg_l2_joint: 80
      leg_l3_joint: 140
      leg_l4_joint: 140
      leg_l5_joint: 20
      leg_r1_joint: 80
      leg_r2_joint: 80
      leg_r3_joint: 140
      leg_r4_joint: 140
      leg_r5_joint: 20
    damping:
      leg_l1_joint: 4.0
      leg_l2_joint: 4.0
      leg_l3_joint: 5.0
      leg_l4_joint: 5.0
      leg_l5_joint: 1.0
      leg_r1_joint: 4.0
      leg_r2_joint: 4.0
      leg_r3_joint: 5.0
      leg_r4_joint: 5.0
      leg_r5_joint: 1.0
    # stiffness:
    #   leg_l1_joint: 30
    #   leg_l2_joint: 30
    #   leg_l3_joint: 60
    #   leg_l4_joint: 75
    #   leg_l5_joint: 20
    #   leg_r1_joint: 30
    #   leg_r2_joint: 30
    #   leg_r3_joint: 60
    #   leg_r4_joint: 75
    #   leg_r5_joint: 36
    # damping:
    #   leg_l1_joint: 3.0
    #   leg_l2_joint: 3.0
    #   leg_l3_joint: 4.0
    #   leg_l4_joint: 4.5
    #   leg_l5_joint: 1.0
    #   leg_r1_joint: 3.0
    #   leg_r2_joint: 3.0
    #   leg_r3_joint: 4.0
    #   leg_r4_joint: 4.5
    #   leg_r5_joint: 1.0
    
    # stiffness:
    #   leg_l1_joint: 0
    #   leg_l2_joint: 0
    #   leg_l3_joint: 0
    #   leg_l4_joint: 0
    #   leg_l5_joint: 0
    #   leg_r1_joint: 0
    #   leg_r2_joint: 0
    #   leg_r3_joint: 0
    #   leg_r4_joint: 0
    #   leg_r5_joint: 0
    # damping:
    #   leg_l1_joint: 0.0
    #   leg_l2_joint: 0.0
    #   leg_l3_joint: 0.0
    #   leg_l4_joint: 0.0
    #   leg_l5_joint: 0.0
    #   leg_r1_joint: 0.0
    #   leg_r2_joint: 0.0
    #   leg_r3_joint: 0.0
    #   leg_r4_joint: 0.0
    #   leg_r5_joint: 0.0
    action_scale: 0.25
    decimation: 5
    cycle_time: 0.48
  normalization:
    clip_scales:
      clip_observations: 18.0
      clip_actions: 18.0
    obs_scales:
      lin_vel: 2
      ang_vel: 1
      dof_pos: 1
      dof_vel: 0.05
      quat: 1
      height_measurements: 5.0
  size:
    actions_size: 10
    observations_size: 40
    stack_size: 5
  axis_mappings:
    scalez: 0.5
    scalex: 0.3
    scaley: 0.5   

singlejump:
  init_state:
  # target angles [rad] when action = 0.0
    default_joint_angle:
      leg_l1_joint: -0.0
      leg_l2_joint: -0.0
      leg_l3_joint: -0.0
      leg_l4_joint: 0.0
      leg_l5_joint: -0.0
      leg_r1_joint: 0.0
      leg_r2_joint: 0.0
      leg_r3_joint: -0.0
      leg_r4_joint: 0.0
      leg_r5_joint: -0.0
  control:
    stiffness:
      leg_l1_joint: 80
      leg_l2_joint: 80
      leg_l3_joint: 140
      leg_l4_joint: 140
      leg_l5_joint: 20
      leg_r1_joint: 80
      leg_r2_joint: 80
      leg_r3_joint: 140
      leg_r4_joint: 140
      leg_r5_joint: 20
    damping:
      leg_l1_joint: 4.0
      leg_l2_joint: 4.0
      leg_l3_joint: 5.0
      leg_l4_joint: 5.0
      leg_l5_joint: 1.0
      leg_r1_joint: 4.0
      leg_r2_joint: 4.0
      leg_r3_joint: 5.0
      leg_r4_joint: 5.0
      leg_r5_joint: 1.0
    
    # stiffness:
    #   leg_l1_joint: 30
    #   leg_l2_joint: 30
    #   leg_l3_joint: 60
    #   leg_l4_joint: 75
    #   leg_l5_joint: 20
    #   leg_r1_joint: 30
    #   leg_r2_joint: 30
    #   leg_r3_joint: 60
    #   leg_r4_joint: 75
    #   leg_r5_joint: 36
    # damping:
    #   leg_l1_joint: 3.0
    #   leg_l2_joint: 3.0
    #   leg_l3_joint: 4.0
    #   leg_l4_joint: 4.5
    #   leg_l5_joint: 1.0
    #   leg_r1_joint: 3.0
    #   leg_r2_joint: 3.0
    #   leg_r3_joint: 4.0
    #   leg_r4_joint: 4.5
    #   leg_r5_joint: 1.0
    
    # stiffness:
    #   leg_l1_joint: 0
    #   leg_l2_joint: 0
    #   leg_l3_joint: 0
    #   leg_l4_joint: 0
    #   leg_l5_joint: 0
    #   leg_r1_joint: 0
    #   leg_r2_joint: 0
    #   leg_r3_joint: 0
    #   leg_r4_joint: 0
    #   leg_r5_joint: 0
    # damping:
    #   leg_l1_joint: 0.0
    #   leg_l2_joint: 0.0
    #   leg_l3_joint: 0.0
    #   leg_l4_joint: 0.0
    #   leg_l5_joint: 0.0
    #   leg_r1_joint: 0.0
    #   leg_r2_joint: 0.0
    #   leg_r3_joint: 0.0
    #   leg_r4_joint: 0.0
    #   leg_r5_joint: 0.0

    action_scale: 0.25
    decimation: 5
    cycle_time: 0.48

  normalization:
    clip_scales:
      clip_observations: 18.0
      clip_actions: 18.0
    obs_scales:
      lin_vel: 2
      ang_vel: 1
      dof_pos: 1
      dof_vel: 0.05
      quat: 1
      height_measurements: 5.0

  size:
    actions_size: 10
    observations_size: 40
    stack_size: 5
  axis_mappings:
    scalez: 0.8
    scalex: 0.5
    scaley: 0.5    
motion:
  init_state:
    # target angles [rad] when action = 0.0
    default_joint_angle:
      arm_l1_joint: 0.0
      arm_l2_joint: 0.0
      arm_l3_joint: 0.0
      arm_l4_joint: 0.0
      leg_l1_joint: 0.0
      leg_l2_joint: 0.0
      leg_l3_joint: -0.3662
      leg_l4_joint: 0.7385
      leg_l5_joint: -0.3726
      arm_r1_joint: 0.0
      arm_r2_joint: 0.0
      arm_r3_joint: 0.0
      arm_r4_joint: 0.0
      leg_r1_joint: 0.0
      leg_r2_joint: 0.0
      leg_r3_joint: -0.3662
      leg_r4_joint: 0.7385
      leg_r5_joint: -0.3726

  pd_action:
    offset:
      arm_l1_joint: 0.0000
      arm_l2_joint: 0.0000
      arm_l3_joint: 0.0000
      arm_l4_joint: 0.0000
      leg_l1_joint: 0.0000
      leg_l2_joint: 0.0000
      leg_l3_joint: 0.0000
      leg_l4_joint: 1.3090
      leg_l5_joint: 0.0000
      arm_r1_joint: 0.0000
      arm_r2_joint: 0.0000
      arm_r3_joint: 0.0000
      arm_r4_joint: 0.0000
      leg_r1_joint: 0.0000
      leg_r2_joint: 0.0000
      leg_r3_joint: 0.0000
      leg_r4_joint: 1.3090
      leg_r5_joint: 0.0000
    scale:
      arm_l1_joint: 2.8000
      arm_l2_joint: 2.1980
      arm_l3_joint: 4.2000
      arm_l4_joint: 2.1980
      leg_l1_joint: 1.4700
      leg_l2_joint: 0.7280
      leg_l3_joint: 2.1986
      leg_l4_joint: 1.8326
      leg_l5_joint: 1.4661
      arm_r1_joint: 2.8000
      arm_r2_joint: 2.1980
      arm_r3_joint: 4.2000
      arm_r4_joint: 2.1980
      leg_r1_joint: 1.4700
      leg_r2_joint: 0.7280
      leg_r3_joint: 2.1986
      leg_r4_joint: 1.8326
      leg_r5_joint: 1.4661

  control:
    stiffness:
      arm_l1_joint: 18
      arm_l2_joint: 18
      arm_l3_joint: 4
      arm_l4_joint: 18
      leg_l1_joint: 80
      leg_l2_joint: 80
      leg_l3_joint: 120
      leg_l4_joint: 120
      leg_l5_joint: 15
      arm_r1_joint: 18
      arm_r2_joint: 18
      arm_r3_joint: 4
      arm_r4_joint: 18
      leg_r1_joint: 80
      leg_r2_joint: 80
      leg_r3_joint: 120
      leg_r4_joint: 120
      leg_r5_joint: 15
    damping:
      arm_l1_joint: 2
      arm_l2_joint: 2
      arm_l3_joint: 0.2
      arm_l4_joint: 2
      leg_l1_joint: 4
      leg_l2_joint: 4
      leg_l3_joint: 5
      leg_l4_joint: 5
      leg_l5_joint: 1
      arm_r1_joint: 2
      arm_r2_joint: 2
      arm_r3_joint: 0.2
      arm_r4_joint: 2
      leg_r1_joint: 4
      leg_r2_joint: 4
      leg_r3_joint: 5
      leg_r4_joint: 5
      leg_r5_joint: 1
      
    decimation: 5
    action_scale: 0.25
    cycle_time: 0.48

  normalization:
    clip_scales:
      clip_observations: 18.0
      clip_actions: 18.0
    obs_scales:
      lin_vel: 2
      ang_vel: 1
      dof_pos: 1
      dof_vel: 0.05
      quat: 1
      height_measurements: 5.0

  size:
    actions_size: 18
    observations_size: 59
    stack_size: 20
    motion_size: 2
  axis_mappings:
    scalez: 1.0
    scalex: 1.5
    scaley: 0.0   
