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[brittle-star] updated README
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driesmarzougui committed Nov 13, 2024
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Expand Up @@ -165,14 +165,21 @@ Two example in-silico brittle star morphologies.

Every segment has two degrees of freedom (DoF), one for in-plane motion and one for out-of-plane motion.

In terms of actuation, the morphology specification can be used to select either position based control, and torque
based control.
The morphology specification can also be used to use tendon-based transmission (but only with torque based control). In
this case, four tendons will be added, similar to the muscle architecture of the brittle star as shown above.

In terms of sensing, the following sensors are implemented. These sensors define the base set of observations that every
brittle star environment returns as observations (further discussed below).

- Proprioception
- Joint positions (two per segment, in-plane and out-of-plane, in radians)
- Joint velocities (two per segment, in-plane and out-of-plane, in radians / second)
- Joint actuator force (i.e. the total actuator force acting on a joint, in Newton meters) (two per segment)
- Actuator force (the scalar actuator force, in Newtons) (two per segment)
- Actuator force (the scalar actuator force, in Newtons) (four per segment in case of tendon transmission, otherwise two)
- Tendon position (in case tendon transmission is used, four per segment, in meters)
- Tendon velocity (in case tendon transmission is used, four per segment, in meters / second)
- Central disk's position (w.r.t. world frame)
- Central disk's rotation (w.r.t. world frame, in radians)
- Central disk's velocity (w.r.t. world frame, in m/s)
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