From 7be1391c73b879ed72404391922964ec683e3709 Mon Sep 17 00:00:00 2001 From: levdoescode Date: Thu, 15 Dec 2022 23:51:05 -0500 Subject: [PATCH] Week 8 notes completed --- .../Week 8/Week 8 Notes.md | 62 +++++++++++++++++++ 1 file changed, 62 insertions(+) create mode 100644 CM3020 Artificial Intelligence/Week 8/Week 8 Notes.md diff --git a/CM3020 Artificial Intelligence/Week 8/Week 8 Notes.md b/CM3020 Artificial Intelligence/Week 8/Week 8 Notes.md new file mode 100644 index 0000000..4e7ab19 --- /dev/null +++ b/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