Simulation controls

Single Pendulum Double Pendulum Semni realtime (~60 fps)
pause/run simulation [p] next step (when paused) [n]
toggle CSL [c] Hip: r+ r- c s+ s- Knee: r+ r- c s+ s-
toggle bounce controller [b]
g_i g_f g_b gain set
csl mode hip contraction

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g_i g_f g_b gain set
csl mode knee contraction

map state to mode [m]
mode = w₀ · U + w₁ · φ' + w₂

Preset 1left down-c
Preset 2s right, c up,
f=0.018
Preset 3self-inhibit c,
f=0.022
Preset 4r right, s left

ABC learning

toggle explore [e]
manual random unseen heuristic
Keep direction if possible (or always try to change)
Keep joint if possible (or always try to change)

Save graph as SVG
Save graph as JSON
Load graph from JSON
Load graph from Semni

Graph properties

Repulsion
Stiffness
Animate graph (slow) [a]
Pause graph layouting between new poses
Pause graph layouting
Show node activation
Show node activation colors (manifold colors otherwise)
Show node visit count colors
Show semni postures
Show transition labels
Save graph with each new posture

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Update manifold view [m]