max_steps: 500
angle_threshold: 0.418
cart_limit: 2.4
reward_alive: 1.0
reward_pole_upright_scale: 1.0
reward_action_penalty_scale: 0.01
model_path: assets/cartpole/cartpole.urdf
actuators:
  - joint: cart_joint
    gear: 10.0
    ctrl_range: [-1.0, 1.0]