contract: nvidia-decoupled-wbc-516-v1
robot: unitree-g1-29dof
normalization: explicit
control_seconds: 0.02
physics_seconds: 0.002
model:
  file: walker.onnx
  balance_file: balance.onnx
  input:
    shape:
      - 1
      - 516
    dtype: float32
  output:
    shape:
      - 1
      - 15
    dtype: float32
command:
  - vx
  - vy
  - yaw_rate
action: position_target
decode: lower_body_default + raw_output * 0.25
upper_body: neutral_position_hold
desired_velocity: 0
feedforward_torque: 0
observation:
  history: 6
  frame_size: 86
  order:
    - scaled_velocity_command
    - height_command
    - torso_rpy_command
    - scaled_body_gyro
    - projected_gravity
    - joint_position_offset_29
    - scaled_joint_velocity_29
    - previous_raw_action_15
joints:
  - name: left_hip_pitch_joint
    default_position: -0.1
    action_scale: 0.25
    kp: 150
    kd: 2.0
  - name: left_hip_roll_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 150
    kd: 2.0
  - name: left_hip_yaw_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 150
    kd: 2.0
  - name: left_knee_joint
    default_position: 0.3
    action_scale: 0.25
    kp: 200
    kd: 4.0
  - name: left_ankle_pitch_joint
    default_position: -0.2
    action_scale: 0.25
    kp: 40
    kd: 2.0
  - name: left_ankle_roll_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40
    kd: 2.0
  - name: right_hip_pitch_joint
    default_position: -0.1
    action_scale: 0.25
    kp: 150
    kd: 2.0
  - name: right_hip_roll_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 150
    kd: 2.0
  - name: right_hip_yaw_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 150
    kd: 2.0
  - name: right_knee_joint
    default_position: 0.3
    action_scale: 0.25
    kp: 200
    kd: 4.0
  - name: right_ankle_pitch_joint
    default_position: -0.2
    action_scale: 0.25
    kp: 40
    kd: 2.0
  - name: right_ankle_roll_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40
    kd: 2.0
  - name: waist_yaw_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 250.0
    kd: 5.0
  - name: waist_roll_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 250.0
    kd: 5.0
  - name: waist_pitch_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 250.0
    kd: 5.0
  - name: left_shoulder_pitch_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: left_shoulder_roll_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: left_shoulder_yaw_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: left_elbow_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: left_wrist_roll_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: left_wrist_pitch_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: left_wrist_yaw_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: right_shoulder_pitch_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: right_shoulder_roll_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: right_shoulder_yaw_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: right_elbow_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: right_wrist_roll_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: right_wrist_pitch_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0
  - name: right_wrist_yaw_joint
    default_position: 0.0
    action_scale: 0.25
    kp: 40.0
    kd: 1.0