Genotype is a directed graph nodes - dimensions - joint type - joint limits - recursive limit - Neurons edges - position - orientation - scale - reflection - terminal-only (applies the connection only at end of the recursive limit) (e.g, hands at end of limbs) Sensors - All - proprioception: joint angles for all DoF of all joints - Land - Contact sensors, every face of every part (self collisions also detected) - Following - Photosensors, normalized direction vector ($R^3$) for every part