tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
Archived
1
Fork 0
Code Issues Releases Activity

docs: proper newlines formatting

Browse source
This commit is contained in:
Tibo De Peuter 2026-05-19 23:04:41 +02:00
parent e4869e0061
commit de6b038002
6 changed files with 20 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

6
docs/api/environment.md
View file

@ -1,12 +1,15 @@
# 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
@ -15,10 +18,13 @@ set the ground floor to sand, attach a target and sizes of the walls.
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