diff --git a/src/unilab/conf/sac/task/g1_wbt_obs/mujoco.yaml b/src/unilab/conf/sac/task/g1_wbt_obs/mujoco.yaml
index cebc64c13..27fba7f09 100644
--- a/src/unilab/conf/sac/task/g1_wbt_obs/mujoco.yaml
+++ b/src/unilab/conf/sac/task/g1_wbt_obs/mujoco.yaml
@@ -23,6 +23,16 @@ algo:
 
 env:
   sim_dt: 0.005
+  commands:
+    motion:
+      params:
+        velocity_range:
+          x: [0.0, 0.0]
+          y: [0.0, 0.0]
+          z: [0.0, 0.0]
+          roll: [0.0, 0.0]
+          pitch: [0.0, 0.0]
+          yaw: [0.0, 0.0]
   scene:
     entities:
       robot:
@@ -160,9 +170,9 @@ env:
       is_global_time: true
       params:
         velocity_range:
-          x: [-1.0, 1.0]
-          y: [-1.0, 1.0]
-          z: [-0.5, 0.5]
+          x: [-0.18, 0.18]
+          y: [-0.18, 0.18]
+          z: [-0.072, 0.072]
           roll: [0.0, 0.0]
           pitch: [0.0, 0.0]
           yaw: [0.0, 0.0]