tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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Environment setup + train loop (#5)

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Mujoco environment setup (vectorized on GPU) + training loop + simulate script
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RobinMeersman 2026-03-26 09:53:54 +01:00 • committed by GitHub
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# Brittle star environment
## Creation
The environment package contains a factory class `BrittleStarEnvFactory`
that creates instances of the environment/morphologies/... It uses the
configuration classes defined in `env_config.py` to create the instances.
## Configuration
The data classes in `env_config` 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.
## Backend and Task enums
The Backend enum specifies either an MJC or MJX backend.
* MJC: runs on CPU
* MJX: uses jax on the gpu
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