Refactor toe anatomy: split single toe into 3 separate digits#74
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…ex and Raptor T-Rex: Split fused single-toe foot into 3 separate digits (d2 medial, d3 central, d4 lateral) per foot. Action space 14→18, obs space 77→85. Raptor: Split fused toe_main (digits 3+4) into separate d3 and d4 per foot, keeping the sickle claw (digit 2) unchanged. Action space 15→17, obs space 69→73. Each digit has independent flexion/extension control, creating a wider triangular support polygon for more realistic ground contact and gait dynamics. Mass is distributed proportionally across digits. https://claude.ai/code/session_01DeR9QgJCPofesh1G4JLrSW
Update observation/action space dimensions across all documentation: - T-Rex: obs 77→85, actions 14→18, hinge joints 22→26 - Raptor: obs 69→73, actions 12→17, hinge joints 18→20 Files updated: README.md, website model docs, API overview, velociraptor README, and website homepage. https://claude.ai/code/session_01DeR9QgJCPofesh1G4JLrSW
The T-Rex was missing skull/jaw/snout geoms in its termination set, so a faceplant wouldn't end the episode (unlike the raptor which already terminates on head/neck contact). Add skull_upper, snout, and jaw_geom to _body_ground_geoms with a dedicated _head_ground_geoms set for the "head_contact" termination reason. neck_geom and brow_ridge have contype=0 (no collisions) so they can't produce floor contacts and are intentionally excluded. https://claude.ai/code/session_01DeR9QgJCPofesh1G4JLrSW
Move PLAN.md, RECOMMENDATIONS.md, ROADMAP.md, and TRAINING_REVIEW.md from the repo root into docs/ to reduce top-level clutter. Update the ROADMAP link in README.md accordingly. Also apply ruff format to test_trex_env.py and test_static_balance.py. https://claude.ai/code/session_01DeR9QgJCPofesh1G4JLrSW
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This pull request makes significant improvements to the anatomical accuracy and control of the T-Rex and Velociraptor simulation environments, as well as updates their observation and action spaces. The changes include refactoring toe structures to use anatomically correct digits, updating actuator definitions, expanding observation and action spaces, and improving episode termination logic for head-ground contact. Tests are also updated to reflect these changes.
Anatomical and Actuator Updates
trex.xmlandraptor.xmlto model three separate forward-facing digits per foot, improving anatomical correctness and control granularity. This replaces previous fused toe bodies with individual digits (d2, d3, d4), and updates associated actuators and keyframes. (environments/trex/assets/trex.xml, [1] [2] [3] [4];environments/velociraptor/assets/raptor.xml, [5] [6]environments/trex/assets/trex.xml, [1];environments/velociraptor/assets/raptor.xml, [2] [3]Observation and Action Space Expansion
README.md, [1] [2];environments/velociraptor/README.md, [3];environments/trex/envs/trex_env.py, [4] F7eb3d17L15R16;environments/trex/tests/test_trex_env.py, [5]Termination Logic Improvements
environments/trex/envs/trex_env.py, [1] [2] [3] [4]Test Coverage and Validation
environments/trex/tests/test_trex_env.py, [1] [2]Documentation and Path Updates
README.md, [1];environments/velociraptor/README.md, [2]These changes collectively improve the realism, control fidelity, and robustness of the environments, making them more suitable for advanced curriculum learning and sim-to-real transfer experiments.