protomotions.utils.component_builder module

Utility functions for building environment components.

This module provides helper functions to create terrain, scene_lib, motion_lib, and simulator objects from their configs, reducing boilerplate in entry scripts.

protomotions.utils.component_builder.build_terrain_from_config(terrain_config, num_envs, device)

Build Terrain from config.

Parameters:

• terrain_config – TerrainConfig or None (exception: can be None for no terrain)

• num_envs (int) – Number of environments

• device (<Mock object at 0x701e6b29f710>[]) – PyTorch device

Returns:

Terrain instance or None if config is None

protomotions.utils.component_builder.build_scene_lib_from_config(scene_lib_config, num_envs, device, terrain, scene_weights=None)

Build SceneLib from config.

Always returns a SceneLib instance. If config.scene_file is None, creates an empty SceneLib (Null Object pattern).

Parameters:

• scene_lib_config – SceneLibConfig (required, scene_file can be None for empty)

• num_envs (int) – Number of environments

• device (<Mock object at 0x701e6b2e3e10>[]) – PyTorch device

• terrain – Terrain instance (required by SceneLib)

• scene_weights (list | None) – Optional scene weights for curriculum learning

Returns:

SceneLib instance (empty if scene_file is None)

protomotions.utils.component_builder.build_motion_lib_from_config(motion_lib_config, device)

Build MotionLib from config.

Always returns a MotionLib instance. If config.motion_file is None, creates an empty MotionLib (Null Object pattern).

Note: Contact smoothing is NOT applied here - it’s the Env’s responsibility to modify the motion_lib during initialization based on its config.

Parameters:

• motion_lib_config – MotionLibConfig (required, motion_file can be None for empty)

• device (<Mock object at 0x701e6b2e0c90>[]) – PyTorch device

Returns:

MotionLib instance (empty if motion_file is None)

protomotions.utils.component_builder.build_simulator_from_config(simulator_config, robot_config, terrain, scene_lib, device, **simulator_extra_params)

Build Simulator from config.

Creates simulator shell (deferred initialization - will be finalized by Env).

Parameters:

• simulator_config – SimulatorConfig

• robot_config – RobotConfig

• terrain – Terrain instance

• scene_lib – SceneLib instance or None

• device (<Mock object at 0x701e6b29eb90>[]) – PyTorch device

• **simulator_extra_params – Simulator-specific params (e.g., simulation_app for IsaacLab)

Returns:

Simulator instance (shell, not yet initialized)

protomotions.utils.component_builder.build_all_components(terrain_config, scene_lib_config, motion_lib_config, simulator_config, robot_config, device, save_dir=None, **simulator_extra_params)

Build all environment components from configs.

Convenience function that builds terrain, scene_lib, motion_lib, and simulator.

Parameters:

• terrain_config – TerrainConfig (or None for no terrain - exception)

• scene_lib_config – SceneLibConfig (always provided, scene_file can be None for empty)

• motion_lib_config – MotionLibConfig (always provided, motion_file can be None for empty)

• simulator_config – SimulatorConfig

• robot_config – RobotConfig

• device (<Mock object at 0x701e6b2ed150>[]) – PyTorch device

• save_dir (str | None) – Optional save directory for loading motion weights as scene weights

• **simulator_extra_params – Simulator-specific params (e.g., simulation_app for IsaacLab)

Returns:

terrain, scene_lib, motion_lib, simulator

Return type:

Dict with keys