| { |
| "versions": { |
| "python": "3.11.15", |
| "numpy": "2.2.6", |
| "pymunk": "7.3.0" |
| }, |
| "creature": { |
| "name": "quadruped", |
| "joints": [ |
| { |
| "x": -0.75, |
| "y": 1.195 |
| }, |
| { |
| "x": 0.75, |
| "y": 1.195 |
| }, |
| { |
| "x": -0.8, |
| "y": 0.6950000000000001 |
| }, |
| { |
| "x": -0.72, |
| "y": 0.205 |
| }, |
| { |
| "x": 0.8, |
| "y": 0.6950000000000001 |
| }, |
| { |
| "x": 0.72, |
| "y": 0.205 |
| } |
| ], |
| "bones": [ |
| { |
| "joint_a": 0, |
| "joint_b": 1 |
| }, |
| { |
| "joint_a": 0, |
| "joint_b": 2 |
| }, |
| { |
| "joint_a": 2, |
| "joint_b": 3 |
| }, |
| { |
| "joint_a": 1, |
| "joint_b": 4 |
| }, |
| { |
| "joint_a": 4, |
| "joint_b": 5 |
| } |
| ], |
| "muscles": [ |
| { |
| "bone_a": 0, |
| "bone_b": 1, |
| "strength": 1.0 |
| }, |
| { |
| "bone_a": 1, |
| "bone_b": 2, |
| "strength": 1.0 |
| }, |
| { |
| "bone_a": 0, |
| "bone_b": 3, |
| "strength": 1.0 |
| }, |
| { |
| "bone_a": 3, |
| "bone_b": 4, |
| "strength": 1.0 |
| }, |
| { |
| "bone_a": 0, |
| "bone_b": 2, |
| "strength": 1.0 |
| }, |
| { |
| "bone_a": 0, |
| "bone_b": 4, |
| "strength": 1.0 |
| } |
| ] |
| }, |
| "brain": { |
| "layer_sizes": [ |
| 38, |
| 16, |
| 6 |
| ] |
| }, |
| "sim": { |
| "duration": 10.0, |
| "physics_hz": 120, |
| "control_hz": 30, |
| "gravity": -9.81, |
| "ground_friction": 1.0, |
| "bone_friction": 0.9, |
| "stiffness_per_kg": 260.0, |
| "damping_per_kg": 9.0, |
| "force_per_kg": 45.0, |
| "muscle_stiffness": null, |
| "muscle_damping": null, |
| "max_muscle_force": null, |
| "joint_error_bias": 0.0 |
| }, |
| "ga": { |
| "population": 200, |
| "elite_frac": 0.08, |
| "tournament_size": 4, |
| "crossover_rate": 0.75, |
| "mutation_rate": 0.06, |
| "mutation_sigma": 0.35, |
| "reset_rate": 0.005, |
| "init_scale": 0.9, |
| "weight_clip": 6.0 |
| }, |
| "seed": null, |
| "hidden": [ |
| 16 |
| ] |
| } |
