Merge branch 'master' of https://github.com/NASA-Tensegrity-Robotics-…

…Toolkit/NTRTsim
NASA-Tensegrity-Robotics-Toolkit · Aug 3, 2016 · 9816cbf · 9816cbf
2 parents 5e67529 + aa52010
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diff --git a/scripts/learning/src/MGHierarchySpec.json b/scripts/learning/src/MGHierarchySpec.json
@@ -0,0 +1,178 @@
+{
+    "filePrefix"   : "monteOut",
+    "fileSuffix"   : ".json",
+    "resourcePath" : "../../../resources/src/",
+    "lowerPath"    : "dhustigschultz/AppMGHierarchy/",
+    "executable" : "./../../../build/dev/dhustigschultz/MG_CPGHierarchy/AppQuadControlHierarchy",
+    "terrain" : [[[0, 0, 0, 0.0, 60000]]],
+    "learningParams": 
+    {
+        "trialLength" : 60000,
+        "numTrials" : 12,
+        "numGenerations" : 1,
+        "deterministic": 0,
+        "spineNodeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 5,
+            "numberOfInstances" : 1,
+            "populationSize" : 12,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+        },
+        "legNodeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 5,
+            "numberOfInstances" : 1,
+            "populationSize" : 12,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+        },
+	"highNodeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 5,
+            "numberOfInstances" : 1,
+            "populationSize" : 12,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+        },
+        "spineEdgeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 2,
+            "numberOfInstances" : 392,
+            "populationSize" : 12,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+        },
+        "hipEdgeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 2,
+            "numberOfInstances" : 610,
+            "populationSize" : 12,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+        },
+        "legEdgeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 2,
+            "numberOfInstances" : 155,
+            "populationSize" : 12,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+        },
+        "highEdgeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 2,
+            "numberOfInstances" : 25,
+            "populationSize" : 12,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+        },
+	"hLowVals" :
+	{
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 2,
+            "numberOfInstances" : 5,
+            "populationSize" : 12,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+	},
+        "feedbackVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 2,
+            "numberOfOutputs" : 3,
+            "numberHidden" : 4,
+            "numberOfInstances" : 1,
+            "populationSize" : 12,
+            "useAverage" : true,
+            "numberToMutate" : 15,
+            "numberOfChildren" : 5,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": -1.0,
+            "childMutationChance" : 0.7
+        }
+    }
+}
diff --git a/src/dev/dhustigschultz/CMakeLists.txt b/src/dev/dhustigschultz/CMakeLists.txt
@@ -38,5 +38,6 @@ subdirs(
 
     MountainGoat
     MG_Controller
+    MG_CPGHierarchy
 
 )