From 3fb8ffc9d0820c3a93e7fbc2d018c61995ee3a2f Mon Sep 17 00:00:00 2001 From: Jona Reynaert Date: Thu, 16 Apr 2026 15:18:08 +0200 Subject: [PATCH] fix: adapted simulation config --- configs/simulation/default.yaml | 7 ++++++- src/brittle_star_project/configs/config_simulation.py | 8 +++++++- 2 files changed, 13 insertions(+), 2 deletions(-) diff --git a/configs/simulation/default.yaml b/configs/simulation/default.yaml index 00c4e44..8645f00 100644 --- a/configs/simulation/default.yaml +++ b/configs/simulation/default.yaml @@ -8,4 +8,9 @@ model_path: null model_type: "random" # Execution backend (MJX or BRAX) -backend: "MJX" +backend: "MJC" + +# Script behavior +headless: false +# In headless mode this is required; in viewer mode null means "infinite". +max_steps: null diff --git a/src/brittle_star_project/configs/config_simulation.py b/src/brittle_star_project/configs/config_simulation.py index 56747ae..00488fc 100644 --- a/src/brittle_star_project/configs/config_simulation.py +++ b/src/brittle_star_project/configs/config_simulation.py @@ -1,5 +1,6 @@ from dataclasses import dataclass from typing import Optional + from brittle_star_project.environment.env_types import Backend @@ -9,4 +10,9 @@ class SimulationSettings: model_path: Optional[str] = None model_type: str = "random" - backend: Backend = Backend.MJX + backend: Backend = Backend.MJC + + # Script behavior + headless: bool = False + # If None, viewer mode runs until window closed or target reached. + max_steps: Optional[int] = None