num_envs: 64
device: auto  # auto = cuda if available, else cpu
dt: 0.002
substeps: 10

# ── Sim2real: domain randomization ───────────────────────────────
domain_rand:
  mass_frac: 0.15          # ±15% body mass randomization
  friction_frac: 0.3       # ±30% joint friction
  damping_frac: 0.3        # ±30% joint damping
  armature_frac: 0.2       # ±20% reflected rotor inertia
  gear_frac: 0.15          # ±15% actuator gear ratio
  com_offset: 0.005        # ±5mm center-of-mass shift