# SPDX-FileCopyrightText: Copyright (c) 2025 The ProtoMotions Developers
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
[docs]
def build_standard_configs(
args,
terrain_config_fn,
scene_lib_config_fn,
motion_lib_config_fn,
env_config_fn,
configure_robot_and_simulator_fn=None,
agent_config_fn=None,
):
"""Build standard robot, simulator, terrain, scene_lib, motion_lib, env, and optionally agent configs.
This is a helper function to reduce boilerplate in experiment files.
All configs are built with training defaults - eval overrides applied separately via apply_inference_overrides().
Parameter order matches execution order: robot → sim → terrain → scene_lib → motion_lib → env → agent
Args:
args: Command line arguments containing robot_name, simulator, etc.
terrain_config_fn: REQUIRED function that takes (args) and returns TerrainConfig (or None for no terrain)
scene_lib_config_fn: REQUIRED function that takes (args) and returns SceneLibConfig (scene_file can be None for empty)
motion_lib_config_fn: REQUIRED function that takes (args) and returns MotionLibConfig (motion_file can be None for empty)
env_config_fn: REQUIRED function that takes (robot_config, args) and returns env config
configure_robot_and_simulator_fn: Optional function that takes (robot_config, simulator_config, args)
agent_config_fn: Optional function that takes (robot_config, env_config, args) and returns agent config
Returns:
Dict with keys: robot, simulator, terrain, scene_lib, motion_lib, env, agent (optional)
"""
from protomotions.robot_configs.factory import robot_config
from protomotions.simulator.factory import simulator_config as simulator_config_func
# Build robot config from factory
robot_cfg = robot_config(args.robot_name)
# Build simulator config from factory
simulator_cfg = simulator_config_func(
args.simulator, robot_cfg, args.headless, args.num_envs, args.experiment_name
)
# Configure robot and simulator for this experiment (if function provided)
if configure_robot_and_simulator_fn is not None:
configure_robot_and_simulator_fn(robot_cfg, simulator_cfg, args)
# Build component configs (independent of robot_config)
# These functions must always be provided
terrain_cfg = terrain_config_fn(args) # Can return None for no terrain (exception)
scene_lib_cfg = scene_lib_config_fn(
args
) # Must return SceneLibConfig (scene_file can be None)
motion_lib_cfg = motion_lib_config_fn(
args
) # Must return MotionLibConfig (motion_file can be None)
# Build env config (depends on robot_config)
env_cfg = env_config_fn(robot_cfg, args)
# Build agent config if function provided (depends on robot_config and env_config)
agent_cfg = (
agent_config_fn(robot_cfg, env_cfg, args)
if agent_config_fn is not None
else None
)
return {
"robot": robot_cfg,
"simulator": simulator_cfg,
"terrain": terrain_cfg,
"scene_lib": scene_lib_cfg,
"motion_lib": motion_lib_cfg,
"env": env_cfg,
"agent": agent_cfg,
}
