simulation:
  physics_timestep: 0.005        # 200 Hz internal physics
  control_freq: 50               # Hz — HAL control rate
  n_substeps: 4                  # physics steps per control step

vision:
  camera: "ego_camera"           # primary ego view (head/torso)
  width: 224
  height: 224
  update_every_n_steps: 5        # render vision at 10 Hz (50/5)
  # Multi-view cameras fed to Cosmos Policy (matches its 3-view convention)
  multi_view:
    overview:    "side_camera"        # third-person overview
    right_wrist: "right_wrist_camera" # right hand perspective
    left_wrist:  "left_wrist_camera"  # left hand perspective

touch:
  sensors:
    - touch_right_hand_palm
    - touch_right_hand_back
    - touch_right_fingertip
    - touch_left_hand_palm
    - touch_left_hand_back
    - touch_left_fingertip
    - touch_right_foot
    - touch_left_foot
    - touch_torso_front
    - touch_torso_back
  imu:
    - accel_torso                 # 3D linear acceleration
    - gyro_torso                  # 3D angular velocity

actuator:
  n_actuators: 21
  control_clip: 0.4              # max |torque| in model units

hal:
  obs_buffer_size: 200           # ring buffer capacity (obs frames)
  action_chunk_len: 10           # steps consumed per policy inference
  viewer_sync_rate: 60           # Hz — passive viewer refresh