Add C. elegans environment #11
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…ayground interface. Status: `step` and `reset` runs without throwing errors, but needs to be validated. Some reward terms not yet implemented.
A number of changes to make the environment more compatible with jitting and with the Brax wrappers. Also updated default parameters to be similar to track-mjx defaults.
…y from "torso" to "walker".
This reverts commit 6a5e010820f24759da428fa3520b39b6182201be.
…flatten arg in `_get_joint_ang_vels`
add arg to put ghost in env fix imitation env to work w track_mjx ppo logic
* make rewards true gaussian kernels * return sigmas for reward terms
* implement `inplace` option for ghost rendering * add model component names as configurables * add kinematic sensors to proprioception
* allow reset from user defined clip/frame * switch quat reward to degrees * add render function * remove unused Imitation2d env (Imitation env is now compatible w 2d)
use suffix for camera name in renderer add better exception warnings
aaprasad
requested review from
asirbu77,
charles-zhng,
emiwar and
scott-yj-yang
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Given that Caenorhabditis elegans (C. Elegans) is a standard model organism in neuroscience due to its static, well mapped out connectome and other molecular maps along with fine grained molecular control and a rich behavioral repetoire, it would be nice for mimic-mjx to support it. Here we integrate a c.elegans body model that has been adapted from the code for Chen et al, Mathematics, 2023. This body model is based on the swimmer model from gym and contains 25 body segments with 24 joints that are actuated by 95 muscles. Each joint is actuated by 4 muscles except for the last segment which is only actuated by 3. The length of the model is about 1mm.