Bugfixes to mate and mutate and change_muscle_value

manduca/Manducas.py

@@ -138,12 +138,12 @@ class Manduca(object):
     #	- flip a random muscle-on
     #	- do the secret-sauce mutation if desired.
     def mutate (self, rng=np.random, max_mutations = 20):
-       n_mutations = rng.randing(1,MAX_MUTATIONS)
-       for _ in num_mutations:
+       num_mutations = rng.randint(1, max_mutations)
+       for _ in range(num_mutations):
            mutation_type = rng.randint(2)
            if mutation_type == 0:
                time_step = rng.randint(self.num_time_steps)
-               leg_idx = np.randint(self.num_legs)
+               leg_idx = rng.randint(self.num_legs)
                value = self.legs[time_step][leg_idx]
                self.legs[time_step][leg_idx] = int(value) ^ 1
            elif mutation_type == 1:
@@ -160,11 +160,11 @@ class Manduca(object):
     # Pick entire rows from one parent or the other. Each row of the child comes
     # from the first parent or the second (with equal likelihood).
     # This is the final function that you write yourself.
-    def mate (self, parent2, rng=np.random):
-       child = self.copy()
+    def mate(self, parent2, rng=np.random):
+       child = self.clone()
        num_time_steps = child.num_time_steps
        for time_step in range(num_time_steps):
-           dna_src = rng.randint(1)
+           dna_src = rng.randint(2)
            if dna_src == 0:
                continue
            else:
@@ -382,5 +382,5 @@ class SimpleManduca(Manduca):
                              size=(time_segments, num_legs-1))
         return SimpleManduca(legs, muscles, time_step, **kwargs)
 
-    def change_muscle_value(self, current_value):
+    def change_muscle_value(self, current_value, rng=np.random):
         return current_value^self.body_properties.muscle_strength