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configs/morphology/2_arms.yaml

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+# 2 Arms Morphology Configuration
+
+segments_per_arm: [4, 0, 4, 0, 0]
+use_p_control: true
+use_torque_control: false

configs/morphology/2_arms_decentralized.yaml

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+# 2 Arms Morphology Configuration
+
+segments_per_arm: [4, 0, 4, 0, 0]
+use_p_control: true
+use_torque_control: false
+morph_mode: FULLY_CONNECTED

configs/morphology/3_arms.yaml

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+# 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_damaged.yaml

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

configs/morphology/5_arms_full.yaml

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+# 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/5_arms_full_fullconnected.yaml

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+# 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
+morph_mode: FULLY_CONNECTED

configs/morphology/partial_amputation.yaml

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+# 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