Round 2 of evaluating MountainGoat on the supercomputer

NASA-Tensegrity-Robotics-Toolkit · Aug 29, 2016 · dee0d7a · dee0d7a
1 parent ca5ee47
commit dee0d7a
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Showing 5 changed files with 21 additions and 7 deletions.
diff --git a/scripts/learning/src/MG_SecondAttempt.json b/scripts/learning/src/MG_SecondAttempt.json
@@ -36,7 +36,7 @@
             "monteCarlo" : true,
             "numberOfStates" : 0,
             "numberOfOutputs" : 2,
-            "numberOfInstances" : 100,
+            "numberOfInstances" : 392,
             "populationSize" : 5000,
             "useAverage" : true,
             "numberToMutate" : 2,

diff --git a/src/dev/bgigous/MG_SecondAttempt/AppQuadSimpleActuation.cpp b/src/dev/bgigous/MG_SecondAttempt/AppQuadSimpleActuation.cpp
@@ -116,7 +116,7 @@ bool AppQuadSimpleActuation::setup()
 		const double impedanceMax = 2000.0;
 
         const int segmentSpan = 3; //Not sure what this will be for mine!
-        const int numMuscles = 8; //This may be ok, but confirm. 
+        const int numMuscles = 16; //This may be ok, but confirm. 
         const int numParams = 2;
         const int segNumber = 0; // For learning results
         const double controlTime = .01;
@@ -175,7 +175,7 @@ bool AppQuadSimpleActuation::setup()
 						    maxH,
 						    minH);
         /// @todo fix memory leak that occurs here
-       JSONQuadFeedbackControl* const myControl =
+       myControl =
         new JSONQuadFeedbackControl(control_config, suffix, lowerPath);
 
 #if (0)        
@@ -347,6 +347,7 @@ bool AppQuadSimpleActuation::run()
    delete simulation;
    delete view;
    delete world;
+   delete myControl;
 
     return true;
 }

diff --git a/src/dev/bgigous/MG_SecondAttempt/AppQuadSimpleActuation.h b/src/dev/bgigous/MG_SecondAttempt/AppQuadSimpleActuation.h
@@ -90,6 +90,7 @@ class AppQuadSimpleActuation
     tgWorld* world;
     tgSimView* view;
     tgSimulation* simulation;
+	JSONQuadFeedbackControl * myControl;
 
     bool use_graphics;
     bool add_controller;

diff --git a/src/dev/bgigous/MG_SecondAttempt/BigPuppySymmetricSpiral2.cpp b/src/dev/bgigous/MG_SecondAttempt/BigPuppySymmetricSpiral2.cpp
@@ -554,6 +554,17 @@ void BigPuppySymmetricSpiral2::addMuscles(tgStructure& puppy){
 	puppy.addPair(n6[3], n13[0], tgString("left front leg_to spine middle muscleAct seg", 11) + tgString(" seg", 7));
 	puppy.addPair(n0[2], n14[0], tgString("left hind leg_to spine middle muscleAct seg", 11) + tgString(" seg", 7));
 
+	puppy.addPair(n13[5], n9[2], tgString("left front leg_to extra muscleAct seg", 13) + tgString(" seg", 9));
+	puppy.addPair(n13[5], n9[3], tgString("left front leg_to extra muscleAct seg", 13) + tgString(" seg", 9));
+
+	puppy.addPair(n11[5], n7[2], tgString("right front leg_to inner extra muscleAct seg", 11) + tgString(" seg", 7));
+	puppy.addPair(n11[5], n7[3], tgString("right front leg_to inner extra muscleAct seg", 11) + tgString(" seg", 7));
+
+	puppy.addPair(n12[5], n8[2], tgString("right hind leg_to extra muscleAct seg", 12) + tgString(" seg", 8));
+	puppy.addPair(n12[5], n8[3], tgString("right hind leg_to extra muscleAct seg", 12) + tgString(" seg", 8));
+
+	puppy.addPair(n14[5], n10[2], tgString("left hind leg_to extra muscleAct seg", 14) + tgString(" seg", 10));
+	puppy.addPair(n14[5], n10[3], tgString("left hind leg_to extra muscleAct seg", 14) + tgString(" seg", 10));
     //puppy.addPair(n14[5], n10[2], tgString("left_hind_leg extra muscle seg", 14) + tgString(" seg", 10));
     //puppy.addPair(n14[5], n10[3], tgString("left_hind_leg extra muscle seg", 14) + tgString(" seg", 10));
     //Populate feet with muscles. Todo: think up names to differentiate each!

diff --git a/src/dev/bgigous/MG_SecondAttempt/JSONQuadFeedbackControl.cpp b/src/dev/bgigous/MG_SecondAttempt/JSONQuadFeedbackControl.cpp
@@ -233,10 +233,11 @@ void JSONQuadFeedbackControl::onStep(BaseSpineModelLearning& subject, double dt)
         m_updateTime = 0;
     }
 
-    double currentHeight = subject.getSegmentCOM(m_config.segmentNumber)[1];
-
-    /// Max and min heights added to config
-    if (currentHeight > m_config.maxHeight || currentHeight < m_config.minHeight)
+	double currentHeight = subject.getSegmentCOM(m_config.segmentNumber)[1];
+	double currentHeightTail = subject.getSegmentCOM(6)[1];
+	/// Max and min heights added to config
+	if (currentHeight > m_config.maxHeight || currentHeight < m_config.minHeight 
+    || currentHeightTail > m_config.maxHeight || currentHeightTail < m_config.minHeight)
     {
 		/// @todo if bogus, stop trial (reset simulation)
 		bogus = true;