diff --git a/src/holosoma/holosoma/managers/command/terms/locomotion.py b/src/holosoma/holosoma/managers/command/terms/locomotion.py
index 9205e47f..f17f6897 100644
--- a/src/holosoma/holosoma/managers/command/terms/locomotion.py
+++ b/src/holosoma/holosoma/managers/command/terms/locomotion.py
@@ -42,10 +42,6 @@ def reset(self, env_ids: torch.Tensor | None) -> None:
         if idx.numel() == 0:
             return
 
-        if self.env.is_evaluating:
-            commands[idx] = 0.0
-            return
-
         self._resample(idx)
 
     def step(self) -> None:
diff --git a/src/holosoma/holosoma/simulator/isaacsim/isaacsim.py b/src/holosoma/holosoma/simulator/isaacsim/isaacsim.py
index ecad4d83..11779622 100644
--- a/src/holosoma/holosoma/simulator/isaacsim/isaacsim.py
+++ b/src/holosoma/holosoma/simulator/isaacsim/isaacsim.py
@@ -125,7 +125,7 @@ def __init__(self, tyro_config: FullSimConfig, terrain_manager: TerrainManager,
         print("[INFO]: Scene manager: ", self.scene)
 
         if self.simulator_config.viewer.enable_tracking:
-            viewer_config: ViewerCfg = ViewerCfg(origin_type="asset_root", asset_name="robot")
+            viewer_config: ViewerCfg = ViewerCfg(origin_type="asset_root", asset_name="robot", eye=(0.0, -1.5, 1.5))
         else:
             viewer_config: ViewerCfg = ViewerCfg()
 
diff --git a/src/holosoma_retargeting/holosoma_retargeting/config_types/data_type.py b/src/holosoma_retargeting/holosoma_retargeting/config_types/data_type.py
index 611e1c23..74764041 100644
--- a/src/holosoma_retargeting/holosoma_retargeting/config_types/data_type.py
+++ b/src/holosoma_retargeting/holosoma_retargeting/config_types/data_type.py
@@ -2,9 +2,15 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from typing import Any, TypedDict
 
+from holosoma_retargeting.config_types.robot import (
+    RobotDefaults,
+    _default_robot_defaults,
+    _validate_robot_type,
+)
+
 # Pre-defined constants for each data format
 LAFAN_DEMO_JOINTS = [
     "Hips",
@@ -346,13 +352,13 @@ class MotionDataConfig:
     data_format: str = "smplh"
     # Use str instead of Literal to allow dynamic robot types
     robot_type: str = "g1"
+    robot_defaults: dict[str, RobotDefaults] = field(default_factory=_default_robot_defaults)
 
     def __post_init__(self) -> None:
         """Validate data_format and robot_type."""
         _validate_data_format(self.data_format)
-        from holosoma_retargeting.config_types.robot import _validate_robot_type
 
-        _validate_robot_type(self.robot_type)
+        _validate_robot_type(self.robot_type, self.robot_defaults)
 
     # Optional overrides - if None, will use defaults from data_format
     demo_joints: list[str] | None = None
diff --git a/src/holosoma_retargeting/holosoma_retargeting/config_types/robot.py b/src/holosoma_retargeting/holosoma_retargeting/config_types/robot.py
index ac93c0f0..e4c13939 100644
--- a/src/holosoma_retargeting/holosoma_retargeting/config_types/robot.py
+++ b/src/holosoma_retargeting/holosoma_retargeting/config_types/robot.py
@@ -2,8 +2,8 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
-from typing import TypedDict
+from dataclasses import dataclass, field
+from typing import Mapping, TypedDict
 
 import numpy as np
 
@@ -21,14 +21,23 @@ class RobotDefaults(TypedDict):
 }
 
 
-def _validate_robot_type(robot_type: str) -> None:
-    """Validate that robot_type exists in _ROBOT_DEFAULTS."""
-    if robot_type not in _ROBOT_DEFAULTS:
-        available = ", ".join(sorted(_ROBOT_DEFAULTS.keys()))
+def _default_robot_defaults() -> dict[str, RobotDefaults]:
+    """Copy robot defaults so each config instance can be customized safely."""
+    return {name: defaults.copy() for name, defaults in _ROBOT_DEFAULTS.items()}
+
+
+def _validate_robot_type(robot_type: str, robot_defaults: Mapping[str, RobotDefaults] | None = None) -> None:
+    """Validate that robot_type exists in robot defaults."""
+    if robot_defaults is None:
+        robot_defaults = _ROBOT_DEFAULTS
+
+    if robot_type not in robot_defaults:
+        available = ", ".join(sorted(robot_defaults.keys()))
         raise ValueError(
             f"Invalid robot_type: '{robot_type}'. "
             f"Available robot types: {available}. "
-            f"Add your robot to _ROBOT_DEFAULTS in config_types/robot.py"
+            f"Add your robot to RobotConfig.robot_defaults "
+            f"(default defined by _ROBOT_DEFAULTS in config_types/robot.py)"
         )
 
 
@@ -51,10 +60,11 @@ class RobotConfig:
     # Robot type selector - determines which defaults to use
     # Use str instead of Literal to allow dynamic robot types via _ROBOT_DEFAULTS
     robot_type: str = "g1"
+    robot_defaults: dict[str, RobotDefaults] = field(default_factory=_default_robot_defaults)
 
     def __post_init__(self) -> None:
         """Validate robot_type after initialization."""
-        _validate_robot_type(self.robot_type)
+        _validate_robot_type(self.robot_type, self.robot_defaults)
 
     # Robot configuration (optional overrides)
     robot_dof: int | None = None
@@ -78,7 +88,7 @@ def _robot_dof(self) -> int:
         """Get robot DOF - use override if provided, else use robot_type default."""
         if self.robot_dof is not None:
             return self.robot_dof
-        return _ROBOT_DEFAULTS[self.robot_type]["robot_dof"]
+        return self.robot_defaults[self.robot_type]["robot_dof"]
 
     ROBOT_DOF = property(
         _robot_dof,
@@ -89,7 +99,7 @@ def _robot_height(self) -> float:
         """Get robot height - use override if provided, else use robot_type default."""
         if self.robot_height is not None:
             return self.robot_height
-        return _ROBOT_DEFAULTS[self.robot_type]["robot_height"]
+        return self.robot_defaults[self.robot_type]["robot_height"]
 
     ROBOT_HEIGHT = property(
         _robot_height,