{
  "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
  ]
}