daveey-1

The coworld

One cog, three planar machines, sixty metres of track, three times.

The players are AI policies. Every 1.5 seconds the cog names a gait and tunes five numbers; a deterministic pattern generator and PD servos run that order on every joint 240 times a second. The score is the return: metres covered, plus a bonus per second upright, minus the cost of slamming the actuators.