world_model:
  stub: true
  latent_dim: 512
  context_frames: 8

policy:
  stub: true
  use_rx1_ik: true          # use Jacobian IK + PickExecutor, not random noise
  action_chunk_len: 10
  action_dim: 42            # 40 joints (nu) + 2 weld bits
  latent_dim: 512

language:
  stub: true
  embedding_dim: 512
  enabled: false

diffusion_planner:
  stub: true
  action_dim: 42
  horizon: 30
  ddim_steps: 20
  proprio_dim: 80           # 40 qpos + 40 qvel
  device: cpu

brain:
  think_freq: 20            # Hz — policy inference rate (higher = smoother target tracking)
  context_window: 8
  default_task: "stand by"
  action_noise_stub: 0.0