config.py

# SPDX-FileCopyrightText: Copyright (c) 2025-2026 The ProtoMotions Developers
# SPDX-License-Identifier: Apache-2.0
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# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
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#
# http://www.apache.org/licenses/LICENSE-2.0
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"""Configuration classes for Genesis simulator."""

from dataclasses import dataclass, field
from protomotions.simulator.base_simulator.config import SimParams, SimulatorConfig


@dataclass
class GenesisSimParams(SimParams):
    """Genesis-specific simulation parameters."""

    substeps: int = field(
        default=2,
        metadata={"help": "Physics substeps per simulation step.", "min": 1}
    )


@dataclass
class GenesisSimulatorConfig(SimulatorConfig):
    """Configuration specific to Genesis simulator."""

    _target_: str = "protomotions.simulator.genesis.simulator.GenesisSimulator"
    w_last: bool = field(
        default=False,
        metadata={"help": "Quaternion format: False for wxyz (Genesis convention)."}
    )
    sim: GenesisSimParams = field(
        default_factory=GenesisSimParams,
        metadata={"help": "Genesis-specific simulation parameters."}
    )