#Configuration file of Simloid simulation environment #---Simulation--- stepLength 0.010000 #step length for one simulation step in s (double) showVel true #print sim/realtime velocity on console (bool) slowDownToRealTime false #slow down simulation velocity to 1.0x (bool) controllerType "TCP" #controller to be used (string) initialPause false #start simulation in pause-mode (bool) contactSoftERP 0.300000 #error reduction parameter during contacts (double) contactSoftCFM 0.000100 #constraint force mixing during contacts (double) #---Bioloid--- bioloidFullCollision true #full collision of bodies on/off (bool) activateAccelBoards true #sensorboards on/off (bool) #---Ball--- withBall on #ball on/off (bool) ball_posx 0.00000 #initial x of ball pos (double) ball_posy -0.100000 #initial y of ball pos (double) ball_posz 0.040000 #initial z of ball pos (double) ball_mass 0.010000 #ball mass (double) ball_radius 0.040000 #ball radius (double) #---Visualization--- show_aabb false #show geom AABBs (bool) show_contacts false #show contact points (bool) draw_scene true #draw scene in window (bool) disableGraphics false #creating window? (otherwise just running on console) (bool) rotatingVel 0.010000 #camera rotating velocity (double) fps 25.000000 #frames per second (double) useFps true #use fps-controller or draw every simstep (bool) windowX 352 #window size x (int) windowY 288 #window size y (int) #---TCPController--- tcp_port 7777 #TCP port where to connect client (int) tcp_initialMaxTorque 500 #initial maxtorque value for joint motors (int) tcp_pidP 3.500000 #P-Value for PID-Controller (double) tcp_pidI 0.000000 #I-Value for PID-Controller (double) tcp_pidD 0.100000 #D-Value for PID-Controller (double) #---Mef3Controller--- mef3_filename "test.mef" #filename of mef3 file to be played (string) mef3_initialMaxTorque 700 #initial maxtorque value for joint motors (int) mef3_pidP 10.000000 #P-Value for PID-Controller (double) mef3_pidI 0.000000 #I-Value for PID-Controller (double) mef3_pidD 0.000000 #D-Value for PID-Controller (double) #---ExperimentalController--- exp_pidP 10.000000 #P-Value for PID-Controller (double) exp_pidI 0.000000 #I-Value for PID-Controller (double) exp_pidD 0.000000 #D-Value for PID-Controller (double) #---TrajectoryController--- traj_initialMaxTorque 700 #initial maxtorque value for joint motors (int) traj_pidP 10.000000 #P-Value for PID-Controller (double) traj_pidI 0.000000 #I-Value for PID-Controller (double) traj_pidD 0.000000 #D-Value for PID-Controller (double) traj_withInit true #doing init phase before each episode (bool) traj_initTime 1.000000 #duration of init phase (double) #---KeyframeController--- key_initialMaxTorque 700 #initial maxtorque value for joint motors (int) key_pidP 0.900000 #P-Value for PID-Controller (double) key_pidI 0.100000 #I-Value for PID-Controller (double) key_pidD 0.100000 #D-Value for PID-Controller (double) #---SinusTrajectoryGenerator--- sintraj_periodicTime 3.000000 #periodic time (Fullstep in s) (double) sintraj_maxEpisodeDuration 10.000000 #max episodeTime during evolution (double) #---SinusWalk1TrajectoryGenerator--- walk1_periodicTime 3.000000 #periodic time (Fullstep in s) (double) walk1_maxEpisodeDuration 15.000000 #max episodeTime during evolution (double) #---SinusWalk2TrajectoryGenerator--- walk2_periodicTime 3.000000 #periodic time (Fullstep in s) (double) walk2_maxEpisodeDuration 15.000000 #max episodeTime during evolution (double) #---SinusWalk3TrajectoryGenerator--- walk3_periodicTime 3.000000 #periodic time (Fullstep in s) (double) walk3_maxEpisodeDuration 15.000000 #max episodeTime during evolution (double) #---Evolution--- doEvolution off #evolution on/off (bool) thePopulationSize 50 #number of individuals per population (int) theSelectionSize 15 #number of individuals of selection (int) theInitGenerationType "PROTOTYPE_GAUSS" #how to init the first population (string) theInitGaussianVariance 0.050000 #gaussian variance at init with gauss (double) min -2.600000 #lower border of gene (double) max 2.600000 #upper border of gene (double) theSelectionType "NBEST" #how to select the selection (string) theFitnessWeight 1.000000 #weight of individuals fitness at SELECT_PROBABILITY (double) theCrossoverType "CROSSOVER" #filling of selection: crossover or copies (string) theIndividualMutationProbability 0.500000 #probability of mutation for one individual (double) theIndividualMutationType "PROBABILITY" #how to select genes to be mutated for one individual (string) theMutatationGenNr 2 #number of genes to be mutated (INDIVIDUAL_MUTATE_FIXN) (int) theGenMutationProbability 0.200000 #probability of mutation for each gene (INDIVIDUAL_MUTATE_PROBABILITY) (double) theGenMutationType "GAUSS" #how to mutate one gene - equipartition or gaussian (string) theMutationGaussianVariance 0.050000 #gaussian variance of gene-mutation (GEN_MUTATE_GAUSSIAN) (double) generationStatLogFile "generations.log" #log for generations statisics (string) bestLogFile "best.log" #log for best individuals (string) lastPopulationFile "lastPop.log" #save for current population at programs kill (string)