Week 8 notes completed

CM3020 Artificial Intelligence/Week 8/Week 8 Notes.md

@@ -0,0 +1,62 @@
+# Deciding on the parameters and their range
+
+### Get the list of the parameters we want
+
+* The links
+  * Geometry
+    * Length
+    * Shape
+    * etc
+* Joints
+* Control system
+Links
+0 link-shape        -> cylinder / box
+1 link-length       -> 0 - 1
+2 link-radius       -> 0 - 1
+3 link-recurrence   -> 1 - 4
+4 link-mass         -> 0 - 1
+
+Joints
+5 joint-type        -> revolute / fixed
+6 joint-parent      -> 0 - number of links
+7 joint-axis-xyz    -> 3 options [1, 0, 0] or [0, 1,  0] or [0, 0, 1]
+8 joint-origin-rpy-1    -> 0 - 2pi
+9 joint-origin-rpy-2    -> 0 - 2pi
+10 joint-origin-rpy-3   -> 0 - 2pi
+11 joint-origin-xyz-1     -> 0 - 1
+12 joint-origin-xyz-2     -> 0 - 1
+13 joint-origin-xyz-3     -> 0 - 1
+
+Control
+14 control-waveform -> sine/pulse/ramp
+15 control-amp      -> 0 - 0.25
+16 control-freq     -> 0 - 1
+
+# Test-driven development
+
+> You may not write production code unless you've first written a failing unit test.
+
+> You may not write more of a unit test than is sufficient to fail.
+
+> You may not write more production code than is sufficient to make the failing unit test pass.
+
+# Genome spec
+
+`gene[spec["link-length"]["ind"]]`
+
+And also a scalar
+
+`get_scaled_genome_values`
+
+# Convert from flat genes to a graph - Algorithm
+
+# Convert to XML
+
+# Fixing position of children
+
+# Totor test script
+
+* create creature
+* write XML to disk
+* load XML
+* iterate over motors, calling p.setJointMotorControl2 with p.VELOCITY_CONTORL, targetVelocity, force