Example config:

{
    "robot_name": "spider", 
    "servo_pins": [6, 13, 19, 26, 16, 12, 20, 21],
    "red_pin": 8,
    "green_pin": 15,
    "blue_pin": 14,
    "ranking_size": 10,
    "variance": 0.008,
    "sigma_decay_squared": 0.98,
    "initial_spline_size": 3,
    "end_spline_size": 100,
    "number_of_fitness_evaluations": 500,
    "fitness_evaluation_method": "auto",
    "runtime_data_file": "runtime_data.tmp",
    "robot_id": 1,
    "fitness_type": ["path", "displacement"],
    "fitness_service_addr": "192.168.1.69",
    "fitness_service_port": 7890
}

Comments:

• "fitness_evaluation_method" takes one of three values: "auto", "manual", "random". Auto requires specifying "robot_id", "fitness_type", "fitness_service_addr" and "fitness_service_port".
• "fitness_type" must be a list. So far only two fitness types are available: ** "path" - length of the path covered by a robot ** "displacement" - difference between position at the beginning and the end of an evaluation