Skip to content

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