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

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