Merge branch 'dev' into feat/message_passing

configs/main_config.yaml

@@ -11,6 +11,7 @@ defaults:
   - morphology: 5_arms_full
   - arena: default
   - environment: directed_locomotion
+  - obs_bounds: default
   - simulation: default
   - _self_
 

configs/obs_bounds/default.yaml

@@ -0,0 +1 @@
+# Defaults provided by dataclass

configs/simulation/default.yaml

@@ -9,7 +9,18 @@ headless: false
 # In headless mode this is required; in viewer mode null means "infinite".
 max_steps: null
 
-# Optional: path to the Hydra config.yaml used during training.
-# When set, scripts/simulate.py will use it to default morphology/arena/environment/architecture
-# to match training (unless you explicitly override those keys via CLI).
-trained_config_path: null
+# Optional: override morphology for amputation experiments.
+# Points to a morphology config YAML file (e.g. configs/morphology/3_arms.yaml).
+# If null, the training morphology from the model's metadata is used.
+morphology_override: null
+
+# Video recording (requires [evaluation] extra)
+record_video: false
+# When null, video is saved in a per-model evaluation folder alongside the model.
+video_output_path: null
+# Camera ID to use for video recording (1 is usually the close-up camera)
+camera_id: 1
+
+# Optional override for the metadata YAML file path.
+# If null, the script looks for `<model_name>_metadata.yaml` alongside the model_path.
+metadata_path: null