feat: add modular configuration files

configs/arena/default.yaml

@@ -0,0 +1,8 @@
+# Default Arena Configuration
+# Base aquarium environment settings.
+
+size: [10.0, 5.0]
+sand_ground_color: true
+attach_target: true
+wall_height: 1.5
+wall_thickness: 0.1

configs/environment/directed_locomotion.yaml

@@ -0,0 +1,12 @@
+# Directed Locomotion Environment
+# Baseline task setting.
+
+task: DIRECTED_LOCOMOTION
+simulation_time: 5.0
+num_physics_steps_per_control_step: 10
+time_scale: 2
+camera_ids: [0, 1]
+render_size: [480, 640]
+joint_randomization_noise_scale: 0.0
+target_distance: 3.0
+light_perlin_noise_scale: 0

configs/environment/light_escape.yaml

@@ -0,0 +1,12 @@
+# Light Escape Environment
+# Advanced task requiring movement away from light source.
+
+task: LIGHT_ESCAPE
+simulation_time: 5.0
+num_physics_steps_per_control_step: 10
+time_scale: 2
+camera_ids: [0, 1]
+render_size: [480, 640]
+joint_randomization_noise_scale: 0.0
+target_distance: 3.0
+light_perlin_noise_scale: 200 # Must be integer factor of 200

configs/experiment/base.yaml

@@ -0,0 +1,7 @@
+# Base Experiment Configuration
+# Default values align with ExperimentConfig dataclass.
+
+exp_name: "brittle_star_ppo"
+seed: 1
+torch_deterministic: true
+cuda: true

configs/experiment/dev_test.yaml

@@ -0,0 +1,7 @@
+# Testing Experiment Configuration
+# Quick experiment for local development/testing.
+
+exp_name: "dev_test_brittle_star"
+seed: 42
+torch_deterministic: true
+cuda: true

configs/experiment/hpc_smoke_test.yaml

@@ -0,0 +1,7 @@
+# HPC Smoke Test Configuration
+# Uses minimal settings but simulates HPC environment.
+
+exp_name: "hpc_smoke_test"
+seed: 123
+torch_deterministic: true
+cuda: true

configs/logging/default.yaml

@@ -0,0 +1,11 @@
+# Default Logging Configuration
+# Offline local-only setup (WandB disabled).
+
+track: false
+wandb_project_name: "PPO-Modularity"
+wandb_entity: "SEL3-2026-Groep-4"
+capture_video: false
+save_model: true
+checkpoint_frequency: 100
+upload_model: false
+hf_entity: ""

configs/logging/wandb_enabled.yaml

@@ -0,0 +1,11 @@
+# WandB Enabled Logging Configuration
+# For production/cloud experiments with weights synced.
+
+track: true
+wandb_project_name: "PPO-Modularity"
+wandb_entity: "SEL3-2026-Groep-4"
+capture_video: false
+save_model: true
+checkpoint_frequency: 100
+upload_model: false
+hf_entity: ""

configs/morphology/3_arms.yaml

@@ -0,0 +1,6 @@
+# 3 Arms Morphology Configuration
+# Symmetric amputation (arms 1 and 3 removed).
+
+segments_per_arm: [4, 0, 4, 0, 4]
+use_p_control: true
+use_torque_control: false

configs/morphology/5_arms_full.yaml

@@ -0,0 +1,6 @@
+# 5 Arms Full Morphology Configuration
+# Baseline 5-arm brittle star.
+
+segments_per_arm: [4, 4, 4, 4, 4]
+use_p_control: true
+use_torque_control: false

configs/morphology/partial_amputation.yaml

@@ -0,0 +1,6 @@
+# Partial Amputation Configuration
+# Random partial amputation for robustness testing.
+
+segments_per_arm: [4, 2, 4, 4, 4]
+use_p_control: true
+use_torque_control: false

configs/ppo/default.yaml

@@ -0,0 +1,19 @@
+# Default PPO Configuration
+# Standard hyperparams from original codebase.
+
+learning_rate: 0.00025
+total_timesteps: 10000000
+num_envs: 100
+num_steps: 128
+anneal_lr: true
+gamma: 0.99
+gae_lambda: 0.95
+num_minibatches: 4
+update_epochs: 4
+norm_adv: true
+clip_coef: 0.1
+clip_vloss: true
+ent_coef: 0.01
+vf_coef: 0.5
+max_grad_norm: 0.5
+target_kl: null

configs/ppo/fast.yaml

@@ -0,0 +1,19 @@
+# Fast PPO Configuration
+# Lower timestep count for quick iterations/testing.
+
+learning_rate: 0.0005
+total_timesteps: 500000
+num_envs: 8
+num_steps: 128
+anneal_lr: true
+gamma: 0.99
+gae_lambda: 0.95
+num_minibatches: 4
+update_epochs: 4
+norm_adv: true
+clip_coef: 0.2
+clip_vloss: true
+ent_coef: 0.01
+vf_coef: 0.5
+max_grad_norm: 0.5
+target_kl: null

configs/ppo/stable.yaml

@@ -0,0 +1,19 @@
+# Stable PPO Configuration
+# Standard hyperparams with lower LR and larger batch.
+
+learning_rate: 0.0001
+total_timesteps: 10000000
+num_envs: 100
+num_steps: 256
+anneal_lr: true
+gamma: 0.99
+gae_lambda: 0.95
+num_minibatches: 8
+update_epochs: 4
+norm_adv: true
+clip_coef: 0.1
+clip_vloss: true
+ent_coef: 0.01
+vf_coef: 0.5
+max_grad_norm: 0.5
+target_kl: null