simulation:
  physics_timestep: 0.002   # 500 Hz internal (matches rx1_scene.xml)
  n_substeps: 4             # 4 physics steps per control step → 125 Hz effective
  control_freq: 50          # HAL control loop Hz

vision:
  camera: "ego"
  width: 224
  height: 224
  update_every_n_steps: 5
  enabled: true            # ego-camera perception: localise objects by colour+depth
  perceive_every: 10       # render+detect every N control steps (~5 Hz), off the 50 Hz path
  multi_view:
    overview: "overview"

actuator:
  n_actuators: 40           # all joints (torso 3 + head 5 + arms 14 + fingers 18)
  action_dim: 42            # 40 joints + 2 weld bits
  control_clip: 2.5         # position targets in radians (per-joint limits enforced by XML)

hal:
  obs_buffer_size: 200
  action_chunk_len: 10
  control_freq: 50
  viewer_sync_rate: 60