24 lines
1.1 KiB
Markdown
24 lines
1.1 KiB
Markdown
# Brittle star environment
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## Creation
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The environment package contains a factory class `BrittleStarEnvFactory`
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that creates instances of the environment/morphologies/... It uses the
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configuration classes defined in `env_config.py` to create the instances.
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## Configuration
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The data classes in `env_config` have default values as stated in the tutorials.
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* MorphologyConfig: configuration for the morphology of the brittle star. Contains
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number of arms, number of segments per arm, and control mode.
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* ArenaConfig: configuration for the arena. Sets the size of the arena, whether to
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set the ground floor to sand, attach a target and sizes of the walls.
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* EnvConfig: configuration for the environment. These set shared settings
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such as camera locations, simulation time and the task.
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## Backend and Task enums
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The Backend enum specifies either an MJC or MJX backend.
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* MJC: runs on CPU
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* MJX: uses jax on the gpu
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The Task enum specifies which task to use. 2 items are present:
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* DIRECTED_LOCOMOTION: move to a target location
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* LIGHT_ESCAPE: situation where the robot must move to a darker location
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