user:
  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: -0.3
      leg_l4_joint: 0.6
      leg_l5_joint: -0.0
      leg_r1_joint: 0.0
      leg_r2_joint: 0.0
      leg_r3_joint: -0.3
      leg_r4_joint: 0.6
      leg_r5_joint: -0.3

      arm_l1_joint: 0.0
      arm_l2_joint: 0.3
      arm_l3_joint: 0.0
      arm_l4_joint: 0.0
      arm_r1_joint: 0.0
      arm_r2_joint: -0.0
      arm_r3_joint: 0.0
      arm_r4_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

      arm_l1_joint: 30
      arm_l2_joint: 30
      arm_l3_joint: 30
      arm_l4_joint: 30
      arm_r1_joint: 30
      arm_r2_joint: 30
      arm_r3_joint: 30
      arm_r4_joint: 30

    damping:
      leg_l1_joint: 4
      leg_l2_joint: 4
      leg_l3_joint: 5
      leg_l4_joint: 5
      leg_l5_joint: 1
      leg_r1_joint: 4
      leg_r2_joint: 4
      leg_r3_joint: 5
      leg_r4_joint: 5
      leg_r5_joint: 1
      
      arm_l1_joint: 2
      arm_l2_joint: 2
      arm_l3_joint: 1
      arm_l4_joint: 2
      arm_r1_joint: 2
      arm_r2_joint: 2
      arm_r3_joint: 1
      arm_r4_joint: 2


    stiffnessRun:
      leg_l1_joint: 80
      leg_l2_joint: 80
      leg_l3_joint: 120
      leg_l4_joint: 120
      leg_l5_joint: 20
      leg_r1_joint: 80
      leg_r2_joint: 80
      leg_r3_joint: 120
      leg_r4_joint: 120
      leg_r5_joint: 20

      arm_l1_joint: 18
      arm_l2_joint: 18
      arm_l3_joint: 4.0
      arm_l4_joint: 18
      arm_r1_joint: 18
      arm_r2_joint: 18
      arm_r3_joint: 4.0
      arm_r4_joint: 18

    dampingRun:
      leg_l1_joint: 4
      leg_l2_joint: 4
      leg_l3_joint: 5
      leg_l4_joint: 5
      leg_l5_joint: 1
      leg_r1_joint: 4
      leg_r2_joint: 4
      leg_r3_joint: 5
      leg_r4_joint: 5
      leg_r5_joint: 1
      
      arm_l1_joint: 2
      arm_l2_joint: 2
      arm_l3_joint: 0.2
      arm_l4_joint: 2
      arm_r1_joint: 2
      arm_r2_joint: 2
      arm_r3_joint: 0.2
      arm_r4_joint: 2

    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: 40
    actions_size_Run: 18
    observations_size_Run: 62

    stack_size: 5
  axis_mappings:
    scalez: 0.8
    scalex: 1.0
    scaley: 0.3   
