tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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that creates instances of the environment/morphologies/... It uses the
configuration classes defined in <code>env_config.py</code> to create the instances.</p>
<h2 id="configuration">Configuration</h2>
<p>The data classes in <code>env_config</code> have default values as stated in the tutorials.
* MorphologyConfig: configuration for the morphology of the brittle star. Contains
number of arms, number of segments per arm, and control mode.
* ArenaConfig: configuration for the arena. Sets the size of the arena, whether to
set the ground floor to sand, attach a target and sizes of the walls.
* EnvConfig: configuration for the environment. These set shared settings
such as camera locations, simulation time and the task.</p>
<p>The data classes in <code>env_config</code> have default values as stated in the tutorials.</p>
<ul>
<li>MorphologyConfig: configuration for the morphology of the brittle star. Contains
number of arms, number of segments per arm, and control mode.</li>
<li>ArenaConfig: configuration for the arena. Sets the size of the arena, whether to
set the ground floor to sand, attach a target and sizes of the walls.</li>
<li>EnvConfig: configuration for the environment. These set shared settings
such as camera locations, simulation time and the task.</li>
</ul>
<h2 id="backend-and-task-enums">Backend and Task enums</h2>
<p>The Backend enum specifies either an MJC or MJX backend.
* MJC: runs on CPU
* MJX: uses jax on the gpu</p>
<p>The Task enum specifies which task to use. 2 items are present:
* DIRECTED_LOCOMOTION: move to a target location
* LIGHT_ESCAPE: situation where the robot must move to a darker location</p>
<p>The Backend enum specifies either an MJC or MJX backend.</p>
<ul>
<li>MJC: runs on CPU</li>
<li>MJX: uses jax on the gpu</li>
</ul>
<p>The Task enum specifies which task to use. 2 items are present:</p>
<ul>
<li>DIRECTED_LOCOMOTION: move to a target location</li>
<li>LIGHT_ESCAPE: situation where the robot must move to a darker location</li>
</ul>