Actuating only the achilles tendons of MountainGoat, and learning par…

…ameters for pid and impedance controllers.
NASA-Tensegrity-Robotics-Toolkit · Aug 31, 2016 · b43c055 · b43c055
1 parent 0089c5a
commit b43c055
Show file tree

Hide file tree

Showing 8 changed files with 1,707 additions and 18 deletions.
diff --git a/scripts/learning/src/MG_AchillesOnly_Spec.json b/scripts/learning/src/MG_AchillesOnly_Spec.json
@@ -0,0 +1,124 @@
+{
+    "filePrefix"   : "monteOut",
+    "fileSuffix"   : ".json",
+    "resourcePath" : "../../../resources/src/",
+    "lowerPath"    : "dhustigschultz/AppMGAO_Test/",
+    "executable" : "./../../../build/dev/dhustigschultz/MG_AchillesOnly_CPGH/AppAOHierarchy",
+    "terrain" : [[[0, 0, 0, 0.0, 60000]]],
+    "learningParams": 
+    {
+        "trialLength" : 60000,
+        "numTrials" : 50,
+        "numGenerations" : 1,
+        "deterministic": 0,
+        "achillesNodeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 5,
+            "numberOfInstances" : 1,
+            "populationSize" : 50,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+        },
+        "achillesEdgeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 2,
+            "numberOfInstances" : 7,
+            "populationSize" : 50,
+            "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" : 50,
+            "useAverage" : true,
+            "numberToMutate" : 15,
+            "numberOfChildren" : 5,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": -1.0,
+            "childMutationChance" : 0.7
+        },
+        "propVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 1,
+            "numberOfInstances" : 1,
+            "populationSize" : 50, 
+            "useAverage" : true,
+            "numberToMutate" : 15,
+            "numberOfChildren" : 5,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 150000.0,
+            "paramMin": 20000.0,
+            "childMutationChance" : 0.9 
+        },
+        "derVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 1,
+            "numberOfInstances" : 1,
+            "populationSize" : 50,
+            "useAverage" : true,
+            "numberToMutate" : 15,
+            "numberOfChildren" : 5,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 25.0,
+            "paramMin": 0,
+            "childMutationChance" : 0.7
+        },
+        "impedenceVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 3,
+            "numberOfInstances" : 1,
+            "populationSize" : 50,
+            "useAverage" : true,
+            "numberToMutate" : 15,
+            "numberOfChildren" : 5,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0,
+            "childMutationChance" : 0.7
+        }
+    }
+}
diff --git a/src/dev/dhustigschultz/CMakeLists.txt b/src/dev/dhustigschultz/CMakeLists.txt
@@ -42,9 +42,8 @@ subdirs(
 
     MountainGoatAchilles
     MG_Achilles_CPGHierarchy
+    MG_AchillesOnly_CPGH
 
     MountainGoatNL2
 
 )
-
-