I tried to deploy RL model on real robot. unitree a1 robot. where can i found obs scale? i cant find this on code.

[Koo-bone-seok]

I tried to deploy RL model on real robot. unitree a1 robot.
During this project, I found that projected gravity obs terms is scaled down by multiple 0.1. i just found it by ploting data. but i can't find about this in any code.
Where can i found it? and when i apply the RL model in real robot. A1 robot shaking legs so so soooo fast. and shutting down it self. I control it torque mode
because the simulation's a1 robot has DC motor and DC motor get scaled position command and change this into the torque command by appling kp, kd, etc...
i want to find the reasons why the robot shaking legs so fast it self.
i think some of the obs term was scaled down. but i cant find this in code.
somebody can help me?