From 8b9c15b54be3a95a73547c2a783093dcf3d82af5 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Mon, 3 Aug 2026 15:02:28 -0500
Subject: [PATCH 01/18] moved all signals and functors into private

---
 source/sgp_mode/SGPHost.h  |   8 +-
 source/sgp_mode/SGPWorld.h | 346 +++++++++++++++++++++----------------
 2 files changed, 203 insertions(+), 151 deletions(-)

diff --git a/source/sgp_mode/SGPHost.h b/source/sgp_mode/SGPHost.h
index 902b54a0..3db532af 100644
--- a/source/sgp_mode/SGPHost.h
+++ b/source/sgp_mode/SGPHost.h
@@ -298,7 +298,7 @@ class SGPHost : public Host {
         this
       );
     }
-    my_world->before_host_cpu_exec_sig.Trigger(*this);
+    my_world->TriggerBeforeHostCPUExec(*this);
 
     // Host may have died as a result of this signal.
     if (GetDead()) {
@@ -326,10 +326,10 @@ class SGPHost : public Host {
         AttemptReproduction(pos);
       }
 
-      my_world->after_host_cpu_step_sig.Trigger(*this);
+      my_world->TriggerAfterHostCPUStep(*this);
       // NOTE - Check death here?
     }
-    my_world->after_host_cpu_exec_sig.Trigger(*this);
+    my_world->TriggerAfterHostCPUExec(*this);
     // Handle any endosymbionts (configurable at setup-time)
     // NOTE - is there any reason that this might need to be a functor?
     ProcessEndosymbionts();
@@ -338,7 +338,7 @@ class SGPHost : public Host {
       return;
     }
     GrowOlder();
-    my_world->after_host_process_sig.Trigger(*this);
+    my_world->TriggerAfterHostProcess(*this);
   }
 
   void ProcessEndosymbionts() {
diff --git a/source/sgp_mode/SGPWorld.h b/source/sgp_mode/SGPWorld.h
index 5d26a512..92297460 100644
--- a/source/sgp_mode/SGPWorld.h
+++ b/source/sgp_mode/SGPWorld.h
@@ -208,158 +208,11 @@ class SGPWorld : public SymWorld {
   // Tag used to trigger start module in signalgp programs during run
   tag_t START_TAG;
 
-  // -- Signals to allow custom behavior to be triggered by other classes -- /
-  // AEV question: getter methods for these?
-
-  // begin_update_sig - Triggers at the beginning of an Update call.
-  //  Triggers before schedule update, before processing any organisms.
-  //  E.g., used for resetting any per-update data tracking.
-  emp::Signal<void(void)> begin_update_sig;
-
-  // ---- Symbiont birth signals / functors ----
-  // before_sym_do_birth_sig - Triggers during SymDoBirth function.
-  //  Triggers after sym offspring is created but before fun_sym_do_birth() is called.
-  emp::Signal<void(
-    emp::Ptr<sgp_sym_t>,          /* sym_baby_ptr */
-    const emp::WorldPosition&     /* parent_pos */
-  )> before_sym_do_birth_sig;
-
-  // after_sym_do_birth_sig - Triggers during SymDoBirth function.
-  //  Triggers after fun_sym_do_birth() is called.
-  emp::Signal<void(
-    const emp::WorldPosition&, /* sym_baby_pos */
-    emp::Ptr<sgp_sym_t>  /* parent_sym */
-  )> after_sym_do_birth_sig;
-
-  // fun_sym_do_birth - Configurable functor that handles calling appropriate
-  //  "DoBirth" function depending on whether free-living symbionts are turned on.
-  fun_sym_do_birth_t fun_sym_do_birth;
-
-  // ---- Host birth signals / functors ----
-  // before_host_do_birth_sig - Triggers during HostDoBirth().
-  //  When this triggers, host offspring has been created (when reproduction queue)
-  //  is processed. Triggers before endosymbionts attempt vertical transmission and
-  //  before DoBirth is called.
-  emp::Signal<void(
-    sgp_host_t&,               /* host_offspring_ptr */
-    sgp_host_t&,               /* host_parent_ptr */
-    const emp::WorldPosition&  /* parent_pos */
-  )> before_host_do_birth_sig;
-
-  // after_host_do_birth_sig - Triggers during HostDoBirth().
-  //  Triggers after endosymbionts attempt vertical transmission and after DoBirth
-  //  is called on the host offspring.
-  // NOTE - add more parameters to this? We know the parent / offsspring where this is called.
-  emp::Signal<void(
-    const emp::WorldPosition& /* host_offspring_pos */
-  )> after_host_do_birth_sig;
-
-  // ---- Host process signals / functors ----
-  // before_host_cpu_exec_sig - Triggers in ProcessHostAt()
-  //  Triggers before running the host's CPU / after updating host location.
-  //  Host is not guaranteed to still be alive if prior actions attached to this signal
-  //  kill the host.
-  emp::Signal<void(
-    sgp_host_t&
-  )> before_host_cpu_exec_sig;
-
-  // after_host_process_sig - Triggers in ProcessHostAt()
-  //  Triggers at end of ProcessHostAt. There is one final check for death after
-  //  after this triggers in case an attached action kills the host.
-  emp::Signal<void(
-    sgp_host_t&
-  )> after_host_process_sig;
-
-  // after_host_cpu_step_sig - Triggers in ProcessHostAt()
-  //  Triggers after each CPU cycle (potentially multiple times per update) and after
-  //  handling a repro attempt by the host for that CPU cycle.
-  emp::Signal<void(
-    sgp_host_t&
-  )> after_host_cpu_step_sig;
-
-  // after_host_cpu_exec_sig - Triggers in ProcessHostAt()
-  //  Triggers after executing all CPU cycles allotted to host being processed and
-  //  before processing the host's endosymbionts.
-  emp::Signal<void(
-    sgp_host_t&
-  )> after_host_cpu_exec_sig;
-  // fun_process_endosym_t fun_process_endosym; // NOTE - not used at the moment
-
-  // ---- Free-living symbiont signals / functors ----
-  // before_freeliving_sym_process_sig - Triggers in ProcessFreeLivingSymAt()
-  //  Triggers if sym is alive before executing sym's CPU.
-  emp::Signal<void(
-    sgp_sym_t&  /* sym */
-  )> before_freeliving_sym_process_sig;
-
-  // after_freeliving_sym_process_sig - Triggers in ProcessFreeLivingSymAt()
-  //  Triggers at end of ProcessFreeLivingSymAt, but before a final check/potential
-  //  DoSymDeath call
-  emp::Signal<void(
-    sgp_sym_t&  /* sym */
-  )> after_freeliving_sym_process_sig;
-
-  // after_freeliving_sym_cpu_step_sig - Triggers in ProcessFreeLivingSymAt()
-  //  Triggers after each CPU cycle after handling an instruction-triggered repro attempt.
-  emp::Signal<void(
-    sgp_sym_t&  /* sym */
-  )> after_freeliving_sym_cpu_step_sig;
-
-  // after_freeliving_sym_cpu_exec_sig - Triggers in ProcessFreeLivingSymAt()
-  //  Triggers after executing all CPU cycles allotted to sym being processed and
-  //  before SGPSymbiont::Process is called.
-  emp::Signal<void(
-    sgp_sym_t&  /* sym */
-  )> after_freeliving_sym_cpu_exec_sig;
-
-  // ---- Endosymbiont process signals / functors ----
-  // Happens before this endosymbiont's host is processed
-  emp::Signal<void(
-    const emp::WorldPosition&, /* sym_pos */
-    sgp_sym_t&,                /* sym */
-    sgp_host_t&                /* host */
-  )> before_endosym_host_process_sig;
-
-  // before_endosym_process_sig - Triggers during ProcessEndoSymbiont()
-  emp::Signal<void(
-    const emp::WorldPosition&, /* sym_pos */
-    sgp_sym_t&,                /* sym */
-    sgp_host_t&                /* host */
-  )> before_endosym_process_sig;
-
-  // after_endosym_process_sig - Triggers during ProcessEndoSymbiont()
-  emp::Signal<void(
-    const emp::WorldPosition&, /* sym_pos */
-    sgp_sym_t&,                /* sym */
-    sgp_host_t&                /* host */
-  )> after_endosym_process_sig;
-
-  // after_endosym_cpu_step_sig - Triggers during ProcessEndoSymbiont()
-  emp::Signal<void(
-    const emp::WorldPosition&, /* sym_pos */
-    sgp_sym_t&,                /* sym */
-    sgp_host_t&                /* host */
-  )> after_endosym_cpu_step_sig;
-
-  // after_endosym_cpu_exec_sig - Triggers during ProcessEndoSymbiont()
-  emp::Signal<void(
-    const emp::WorldPosition&, /* sym_pos */
-    sgp_sym_t&,                /* sym */
-    sgp_host_t&                /* host */
-  )> after_endosym_cpu_exec_sig;
 
 
   // ---- Environment signals/functors ----
   // fun_do_resource_inflow_t fun_do_resource_inflow;
 
-  // Called in FindHostForHorizontalTrans(), configured in SetupPopStructure().
-  // Returns a target position for symbiont to horizontally transmit into.
-  // Returns std::nullopt if failed to find suitable target position.
-  std::function<std::optional<emp::WorldPosition>(
-    size_t,                 /* Parent's host location id in world (pops[0][id])*/
-    emp::Ptr<sgp_sym_t>     /* Pointer to symbiont parent (producing the sym offspring) */
-  )> fun_find_host_for_horizontal_trans;
-
   // External facing helpers for orgnanisms to call
 
   //void HostAttemptRepro(const emp::WorldPosition& pos, sgp_host_t& host);
@@ -489,6 +342,15 @@ class SGPWorld : public SymWorld {
     bool                         /* vertical transmission success */
   )> after_sym_vert_transmission_sig;
 
+  // Called in FindHostForHorizontalTrans(), configured in SetupPopStructure().
+  // Returns a target position for symbiont to horizontally transmit into.
+  // Returns std::nullopt if failed to find suitable target position.
+  std::function<std::optional<emp::WorldPosition>(
+    size_t,                 /* Parent's host location id in world (pops[0][id])*/
+    emp::Ptr<sgp_sym_t>     /* Pointer to symbiont parent (producing the sym offspring) */
+  )> fun_find_host_for_horizontal_trans;
+
+  
   // fun_vert_trans_compatible - Called during HostDoBirth to determine if
   //  a given symbiont can vertically transmit into host offspring.
   fun_vert_trans_compatible_t fun_vert_trans_compatible;
@@ -584,6 +446,150 @@ class SGPWorld : public SymWorld {
       (static_cast<sgp_sym_t*>(org_ptr.Raw()))->GetHardware().GetCPUState();
   }
 
+  // -- Signals to allow custom behavior to be triggered by other classes -- /
+  // AEV question: getter methods for these?
+
+  // begin_update_sig - Triggers at the beginning of an Update call.
+  //  Triggers before schedule update, before processing any organisms.
+  //  E.g., used for resetting any per-update data tracking.
+  emp::Signal<void(void)> begin_update_sig;
+
+  // ---- Symbiont birth signals / functors ----
+  // before_sym_do_birth_sig - Triggers during SymDoBirth function.
+  //  Triggers after sym offspring is created but before fun_sym_do_birth() is called.
+  emp::Signal<void(
+    emp::Ptr<sgp_sym_t>,          /* sym_baby_ptr */
+    const emp::WorldPosition&     /* parent_pos */
+  )> before_sym_do_birth_sig;
+
+
+  // after_sym_do_birth_sig - Triggers during SymDoBirth function.
+  //  Triggers after fun_sym_do_birth() is called.
+  emp::Signal<void(
+    const emp::WorldPosition&, /* sym_baby_pos */
+    emp::Ptr<sgp_sym_t>  /* parent_sym */
+  )> after_sym_do_birth_sig;
+
+
+  // fun_sym_do_birth - Configurable functor that handles calling appropriate
+  //  "DoBirth" function depending on whether free-living symbionts are turned on.
+  fun_sym_do_birth_t fun_sym_do_birth;
+
+  // ---- Host birth signals / functors ----
+  // before_host_do_birth_sig - Triggers during HostDoBirth().
+  //  When this triggers, host offspring has been created (when reproduction queue)
+  //  is processed. Triggers before endosymbionts attempt vertical transmission and
+  //  before DoBirth is called.
+  emp::Signal<void(
+    sgp_host_t&,               /* host_offspring_ptr */
+    sgp_host_t&,               /* host_parent_ptr */
+    const emp::WorldPosition&  /* parent_pos */
+  )> before_host_do_birth_sig;
+
+
+  // after_host_do_birth_sig - Triggers during HostDoBirth().
+  //  Triggers after endosymbionts attempt vertical transmission and after DoBirth
+  //  is called on the host offspring.
+  // NOTE - add more parameters to this? We know the parent / offsspring where this is called.
+  emp::Signal<void(
+    const emp::WorldPosition& /* host_offspring_pos */
+  )> after_host_do_birth_sig;
+
+
+  // ---- Host process signals / functors ----
+  // before_host_cpu_exec_sig - Triggers in ProcessHostAt()
+  //  Triggers before running the host's CPU / after updating host location.
+  //  Host is not guaranteed to still be alive if prior actions attached to this signal
+  //  kill the host.
+  emp::Signal<void(
+    sgp_host_t&
+  )> before_host_cpu_exec_sig;
+
+  // after_host_process_sig - Triggers in ProcessHostAt()
+  //  Triggers at end of ProcessHostAt. There is one final check for death after
+  //  after this triggers in case an attached action kills the host.
+  emp::Signal<void(
+    sgp_host_t&
+  )> after_host_process_sig;
+
+  // after_host_cpu_step_sig - Triggers in ProcessHostAt()
+  //  Triggers after each CPU cycle (potentially multiple times per update) and after
+  //  handling a repro attempt by the host for that CPU cycle.
+  emp::Signal<void(
+    sgp_host_t&
+  )> after_host_cpu_step_sig;
+
+  // after_host_cpu_exec_sig - Triggers in ProcessHostAt()
+  //  Triggers after executing all CPU cycles allotted to host being processed and
+  //  before processing the host's endosymbionts.
+  emp::Signal<void(
+    sgp_host_t&
+  )> after_host_cpu_exec_sig;
+  // fun_process_endosym_t fun_process_endosym; // NOTE - not used at the moment
+
+  // ---- Free-living symbiont signals / functors ----
+  // before_freeliving_sym_process_sig - Triggers in ProcessFreeLivingSymAt()
+  //  Triggers if sym is alive before executing sym's CPU.
+  emp::Signal<void(
+    sgp_sym_t&  /* sym */
+  )> before_freeliving_sym_process_sig;
+
+  // after_freeliving_sym_process_sig - Triggers in ProcessFreeLivingSymAt()
+  //  Triggers at end of ProcessFreeLivingSymAt, but before a final check/potential
+  //  DoSymDeath call
+  emp::Signal<void(
+    sgp_sym_t&  /* sym */
+  )> after_freeliving_sym_process_sig;
+
+  // after_freeliving_sym_cpu_step_sig - Triggers in ProcessFreeLivingSymAt()
+  //  Triggers after each CPU cycle after handling an instruction-triggered repro attempt.
+  emp::Signal<void(
+    sgp_sym_t&  /* sym */
+  )> after_freeliving_sym_cpu_step_sig;
+
+  // after_freeliving_sym_cpu_exec_sig - Triggers in ProcessFreeLivingSymAt()
+  //  Triggers after executing all CPU cycles allotted to sym being processed and
+  //  before SGPSymbiont::Process is called.
+  emp::Signal<void(
+    sgp_sym_t&  /* sym */
+  )> after_freeliving_sym_cpu_exec_sig;
+
+  // ---- Endosymbiont process signals / functors ----
+  // Happens before this endosymbiont's host is processed
+  emp::Signal<void(
+    const emp::WorldPosition&, /* sym_pos */
+    sgp_sym_t&,                /* sym */
+    sgp_host_t&                /* host */
+  )> before_endosym_host_process_sig;
+
+  // before_endosym_process_sig - Triggers during ProcessEndoSymbiont()
+  emp::Signal<void(
+    const emp::WorldPosition&, /* sym_pos */
+    sgp_sym_t&,                /* sym */
+    sgp_host_t&                /* host */
+  )> before_endosym_process_sig;
+
+  // after_endosym_process_sig - Triggers during ProcessEndoSymbiont()
+  emp::Signal<void(
+    const emp::WorldPosition&, /* sym_pos */
+    sgp_sym_t&,                /* sym */
+    sgp_host_t&                /* host */
+  )> after_endosym_process_sig;
+
+  // after_endosym_cpu_step_sig - Triggers during ProcessEndoSymbiont()
+  emp::Signal<void(
+    const emp::WorldPosition&, /* sym_pos */
+    sgp_sym_t&,                /* sym */
+    sgp_host_t&                /* host */
+  )> after_endosym_cpu_step_sig;
+
+  // after_endosym_cpu_exec_sig - Triggers during ProcessEndoSymbiont()
+  emp::Signal<void(
+    const emp::WorldPosition&, /* sym_pos */
+    sgp_sym_t&,                /* sym */
+    sgp_host_t&                /* host */
+  )> after_endosym_cpu_exec_sig;
+
 public:
   SGPWorld(
     emp::Random& rnd,
@@ -812,6 +818,52 @@ class SGPWorld : public SymWorld {
     after_endosym_process_sig.Trigger(sym_pos, sym, static_cast<sgp_host_t&>(*host));
   }
 
+  void TriggerBeforeSymDoBirth(emp::Ptr<sgp_sym_t> sym_baby_ptr, const emp::WorldPosition& parent_pos){
+    before_sym_do_birth_sig.Trigger(sym_baby_ptr, parent_pos);
+  }
+
+  void TriggerAfterSymDoBirth(const emp::WorldPosition& sym_baby_pos, 
+    emp::Ptr<sgp_sym_t> parent_sym){
+    after_sym_do_birth_sig.Trigger(sym_baby_pos, parent_sym);
+  }
+
+  void TriggerBeforeHostDoBirth(sgp_host_t& host_offspring_ptr,
+    sgp_host_t& host_parent_ptr,
+    const emp::WorldPosition& parent_pos){
+    before_host_do_birth_sig.Trigger(host_offspring_ptr, host_parent_ptr, parent_pos);
+  }
+
+  void TriggerAfterHostDoBirth(const emp::WorldPosition& host_offspring_pos){
+    after_host_do_birth_sig.Trigger(host_offspring_pos);
+  }
+
+  void TriggerBeforeHostCPUExec(
+    sgp_host_t& host
+  ) {
+    before_host_cpu_exec_sig.Trigger(host);
+  }
+
+  void TriggerAfterHostCPUStep(
+    sgp_host_t& host
+  ) {
+    after_host_cpu_step_sig.Trigger(host);
+  }
+
+  void TriggerAfterHostCPUExec(
+    sgp_host_t& host
+  ) {
+    after_host_cpu_exec_sig.Trigger(host);
+  }
+  
+  void TriggerAfterHostProcess(
+    sgp_host_t& host
+  ) {
+    after_host_process_sig.Trigger(host);
+  }
+
+
+
+
   const std::unordered_set<uint8_t>& GetJumpInstOpcodes() const { return sgp_jump_opcodes; }
 
   /**

From 3a8c22412d889babadd2a86d70fec5344ab02091 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Mon, 3 Aug 2026 15:15:07 -0500
Subject: [PATCH 02/18] removed defunct functions

---
 source/Organism.h | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/source/Organism.h b/source/Organism.h
index 1ee29efa..3f4f84cd 100644
--- a/source/Organism.h
+++ b/source/Organism.h
@@ -288,14 +288,6 @@ class Organism {
     std::cout << "ClearReproSyms called from Organism" << std::endl;
     throw "Organism method called!";
   }
-  virtual void CycleTransfer(int _in) {
-    std::cout << "CycleTransfer called from Organism" << std::endl;
-    throw "Organism method called!";
-  }
-  virtual int GetCyclesGiven() const {
-    std::cout << "GetCyclesGiven called from Organism" << std::endl;
-    throw "Organism method called!";
-  }
   //Bacterium functions
   virtual double ProcessLysogenResources(double phage_inc_val) {
     std::cout << "ProcessLysogenResources called from Organism" << std::endl;
@@ -376,11 +368,5 @@ class Organism {
   }
 
 
-  //SGPMode Symbiont Functions
-  virtual float DoTaskInteraction(float score, size_t task_id) {
-    std::cout << "DoTaskInteraction called from Organism" << std::endl;
-    throw "Organism method called!";
-  }
-
 };
 #endif

From 2c7494993933a88eebf694b2464e4621c01ee268 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Tue, 4 Aug 2026 11:31:09 -0500
Subject: [PATCH 03/18] did some fixing up of indentation and such

---
 source/sgp_mode/SGPWorld.h | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/source/sgp_mode/SGPWorld.h b/source/sgp_mode/SGPWorld.h
index 92297460..9d491073 100644
--- a/source/sgp_mode/SGPWorld.h
+++ b/source/sgp_mode/SGPWorld.h
@@ -818,7 +818,8 @@ class SGPWorld : public SymWorld {
     after_endosym_process_sig.Trigger(sym_pos, sym, static_cast<sgp_host_t&>(*host));
   }
 
-  void TriggerBeforeSymDoBirth(emp::Ptr<sgp_sym_t> sym_baby_ptr, const emp::WorldPosition& parent_pos){
+  void TriggerBeforeSymDoBirth(emp::Ptr<sgp_sym_t> sym_baby_ptr, 
+    const emp::WorldPosition& parent_pos){
     before_sym_do_birth_sig.Trigger(sym_baby_ptr, parent_pos);
   }
 
@@ -837,15 +838,11 @@ class SGPWorld : public SymWorld {
     after_host_do_birth_sig.Trigger(host_offspring_pos);
   }
 
-  void TriggerBeforeHostCPUExec(
-    sgp_host_t& host
-  ) {
+  void TriggerBeforeHostCPUExec(sgp_host_t& host) {
     before_host_cpu_exec_sig.Trigger(host);
   }
 
-  void TriggerAfterHostCPUStep(
-    sgp_host_t& host
-  ) {
+  void TriggerAfterHostCPUStep(sgp_host_t& host) {
     after_host_cpu_step_sig.Trigger(host);
   }
 

From 8c5d5bbb604cfb985d28a52daba80d201edb396c Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Wed, 5 Aug 2026 12:27:34 -0500
Subject: [PATCH 04/18] changed cpu to grab host location

---
 source/sgp_mode/SGPHost.h                     |  8 +++---
 source/sgp_mode/hardware/CPUState.h           |  8 +++---
 .../sgp_mode_test/unit_tests/SGPHost.test.cc  | 26 ++++++++++++++++++
 .../unit_tests/SGPSymbiont.test.cc            | 27 +++++++++++++++++++
 4 files changed, 61 insertions(+), 8 deletions(-)

diff --git a/source/sgp_mode/SGPHost.h b/source/sgp_mode/SGPHost.h
index 3db532af..51878a29 100644
--- a/source/sgp_mode/SGPHost.h
+++ b/source/sgp_mode/SGPHost.h
@@ -171,10 +171,10 @@ class SGPHost : public Host {
    */
   void SetReproCount(size_t _in) { reproductions = _in; }
 
-  void SetLocation(emp::WorldPosition pos) {
-    hardware.GetCPUState().SetLocation(pos);
-    Host::SetLocation(pos);
-  }
+  //void SetLocation(emp::WorldPosition pos) {
+    //hardware.GetCPUState().SetLocation(pos);
+    //Host::SetLocation(pos);
+  //}
 
   void DecPoints(double amt) {
     points -= amt;
diff --git a/source/sgp_mode/hardware/CPUState.h b/source/sgp_mode/hardware/CPUState.h
index 56cf641d..258cfee9 100644
--- a/source/sgp_mode/hardware/CPUState.h
+++ b/source/sgp_mode/hardware/CPUState.h
@@ -86,7 +86,7 @@ class CPUState {
   emp::Ptr<Organism> organism; // Unowned pointer to organism using this CPU.
   emp::Ptr<world_t> world_ptr; // Unowned pointer to the world using this CPU.
 
-  emp::WorldPosition location;
+  //emp::WorldPosition location;
 
 public:
   CPUState(
@@ -148,7 +148,7 @@ class CPUState {
 
     jump_table.clear();
 
-    location = emp::WorldPosition();
+    //location = emp::WorldPosition();
   }
 
   // Reset cpu state, but keep num_tasks the same.
@@ -166,9 +166,9 @@ class CPUState {
   }
 
   void SetLocation(const emp::WorldPosition& loc) {
-    location = loc;
+    GetOrgPtr()->SetLocation(loc);
   }
-  const emp::WorldPosition& GetLocation() const { return location; }
+  const emp::WorldPosition GetLocation() const { return GetOrg().GetLocation(); }
 
   void SetCPUCyclesToExec(size_t num) {
     cpu_cycles_to_exec = num;
diff --git a/source/test/sgp_mode_test/unit_tests/SGPHost.test.cc b/source/test/sgp_mode_test/unit_tests/SGPHost.test.cc
index 79401dca..61900c52 100644
--- a/source/test/sgp_mode_test/unit_tests/SGPHost.test.cc
+++ b/source/test/sgp_mode_test/unit_tests/SGPHost.test.cc
@@ -309,4 +309,30 @@ TEST_CASE("Check that hosts and syms can't have negative points", "[sgp][sgp-uni
       }
     }
   }
+}
+
+TEST_CASE("CPUState and SGPHost always have the same location","[sgp][elias]"){
+  using world_t = sgpmode::SGPWorld;
+  using cpu_state_t = sgpmode::CPUState<world_t>;
+  using hw_spec_t = sgpmode::SGPHardwareSpec<sgpmode::Library, cpu_state_t, world_t>;
+  using sgp_host_t = sgpmode::SGPHost<hw_spec_t>;
+  using sgp_sym_t = sgpmode::SGPSymbiont<hw_spec_t>;
+
+  emp::Random random(31);
+  sgpmode::SymConfigSGP config;
+  world_t world(random, &config);
+  auto& prog_builder = world.GetProgramBuilder();
+  emp::Ptr<sgp_host_t> host = emp::NewPtr<sgp_host_t>(&random, &world, &config, prog_builder.CreateReproProgram(100));
+  
+  WHEN("Initialized"){
+   REQUIRE(host->GetHardware().GetCPUState().GetLocation().GetIndex() == host->GetLocation().GetIndex());
+  }
+  WHEN("Host has location set"){
+    host->SetLocation(emp::WorldPosition(1, 2));
+    REQUIRE(host->GetHardware().GetCPUState().GetLocation().GetIndex() == host->GetLocation().GetIndex());
+  }
+  WHEN("CPUState has location set"){
+    host->GetHardware().GetCPUState().SetLocation(emp::WorldPosition(3, 4));
+    REQUIRE(host->GetHardware().GetCPUState().GetLocation().GetIndex() == host->GetLocation().GetIndex());
+  }
 }
\ No newline at end of file
diff --git a/source/test/sgp_mode_test/unit_tests/SGPSymbiont.test.cc b/source/test/sgp_mode_test/unit_tests/SGPSymbiont.test.cc
index 34ec3d3e..b5d62848 100644
--- a/source/test/sgp_mode_test/unit_tests/SGPSymbiont.test.cc
+++ b/source/test/sgp_mode_test/unit_tests/SGPSymbiont.test.cc
@@ -132,3 +132,30 @@ TEST_CASE("Symbiont Process", "[sgp][sgp-unit]") {
 //     }
 //   }
 // }
+
+TEST_CASE("CPUState and SGPSymbiont always have the same location","[sgp][elias]"){
+  using world_t = sgpmode::SGPWorld;
+  using cpu_state_t = sgpmode::CPUState<world_t>;
+  using hw_spec_t = sgpmode::SGPHardwareSpec<sgpmode::Library, cpu_state_t, world_t>;
+  using sgp_host_t = sgpmode::SGPHost<hw_spec_t>;
+  using sgp_sym_t = sgpmode::SGPSymbiont<hw_spec_t>;
+
+  emp::Random random(31);
+  sgpmode::SymConfigSGP config;
+  world_t world(random, &config);
+  auto& prog_builder = world.GetProgramBuilder();
+  emp::Ptr<sgp_sym_t> sym = emp::NewPtr<sgp_sym_t>(&random, &world, &config, prog_builder.CreateReproProgram(100));
+  
+  WHEN("Initialized"){
+    REQUIRE(sym->GetHardware().GetCPUState().GetLocation().GetIndex() == sym->GetLocation().GetIndex());
+  }
+
+  WHEN("Symbiont has location set"){
+    sym->SetLocation(emp::WorldPosition(1, 2));
+    REQUIRE(sym->GetHardware().GetCPUState().GetLocation().GetIndex() == sym->GetLocation().GetIndex());
+  }
+  WHEN("CPUState has location set"){
+    sym->GetHardware().GetCPUState().SetLocation(emp::WorldPosition(3, 4));
+    REQUIRE(sym->GetHardware().GetCPUState().GetLocation().GetIndex() == sym->GetLocation().GetIndex());
+  }
+}
\ No newline at end of file

From 33fbf90bb4f04c3d48f922284cead25d80dce5d4 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Wed, 5 Aug 2026 14:16:37 -0500
Subject: [PATCH 05/18] fixed sgp config for hosts and symmbionts

---
 source/sgp_mode/SGPHost.h     | 17 ++++++++---------
 source/sgp_mode/SGPSymbiont.h | 16 ++++++++--------
 2 files changed, 16 insertions(+), 17 deletions(-)

diff --git a/source/sgp_mode/SGPHost.h b/source/sgp_mode/SGPHost.h
index 51878a29..d7aa2e0f 100644
--- a/source/sgp_mode/SGPHost.h
+++ b/source/sgp_mode/SGPHost.h
@@ -50,7 +50,7 @@ class SGPHost : public Host {
    * object as my_config from superclass, but with the correct subtype.
    *
    */
-  // emp::Ptr<SymConfigSGP> sgp_config;
+  emp::Ptr<SymConfigSGP> sgp_config;
 
   // // Function to configure functionality.
   // void ConfigureDefaults() {
@@ -81,8 +81,8 @@ class SGPHost : public Host {
   ) :
     Host(_random, _world, _config, _intval, _syms, _repro_syms, _points),
     hardware(_world, this),
-    my_world(_world)
-    // sgp_config(_config)
+    my_world(_world),
+      sgp_config(_config)
   { }
 
   /**
@@ -100,8 +100,8 @@ class SGPHost : public Host {
   ) :
     Host(_random, _world, _config, _intval, _syms, _repro_syms, _points),
     hardware(_world, this, genome),
-    my_world(_world)
-    // sgp_config(_config)
+    my_world(_world),
+      sgp_config(_config)
   { }
 
   SGPHost(const SGPHost& host) :
@@ -263,7 +263,6 @@ class SGPHost : public Host {
     if (GetDead()) {
       return;
     }
-
     // NOTE - Discuss timing of endosym pre-process signal and host preprocess signal
     //        Currently endosyms go first and then hosts. This is to model endosyms
     //        having opportunity to steal / donate cpu cycles and then host responding
@@ -290,7 +289,7 @@ class SGPHost : public Host {
       }
       // Endosymbiont gains baseline number of CPU cycles
       cur_symbiont->GetHardware().GetCPUState().GainCPUCycles(
-        my_world->GetConfig().CYCLES_PER_UPDATE()
+        sgp_config->CYCLES_PER_UPDATE()
       );
       my_world->TriggerBeforeEndoSymHostProcessSig(
         {endosym_i + 1, GetLocation().GetIndex()},
@@ -388,7 +387,7 @@ class SGPHost : public Host {
    * TODO: Perhaps Default mode should have something similar
    */
   void AttemptReproduction(const emp::WorldPosition& pos) {
-    const double repro_cost = my_world->GetConfig().HOST_REPRO_RES();
+    const double repro_cost = sgp_config->HOST_REPRO_RES();
     if (GetPoints() >= repro_cost) {
       // Host pays cost
       DecPoints(repro_cost);
@@ -434,7 +433,7 @@ class SGPHost : public Host {
           // Is this a host task?
           if (!task_env.IsHostTask(task_id)) continue;
           // Not first task
-          const bool not_first_task = my_world->GetConfig().HOST_ONLY_FIRST_TASK_CREDIT() && cpu_state.GetFirstTaskPerformed().Any() && !cpu_state.GetFirstTaskPerformed().Get(task_id);
+          const bool not_first_task = sgp_config->HOST_ONLY_FIRST_TASK_CREDIT() && cpu_state.GetFirstTaskPerformed().Any() && !cpu_state.GetFirstTaskPerformed().Get(task_id);
           if (not_first_task) {
             continue;
           }
diff --git a/source/sgp_mode/SGPSymbiont.h b/source/sgp_mode/SGPSymbiont.h
index 18668c34..0c5738a1 100644
--- a/source/sgp_mode/SGPSymbiont.h
+++ b/source/sgp_mode/SGPSymbiont.h
@@ -44,7 +44,7 @@ class SGPSymbiont : public Symbiont {
    * object as my_config from superclass, but with the correct subtype.
    *
    */
-  // emp::Ptr<SymConfigSGP> sgp_config = NULL;
+   emp::Ptr<SymConfigSGP> sgp_config = NULL;
 public:
   /**
    * Constructs a new SGPSymbiont as an ancestor organism, with either a random
@@ -60,9 +60,10 @@ class SGPSymbiont : public Symbiont {
   ) :
     Symbiont(_random, _world, _config, _intval, _points),
     hardware(_world, this),
-    my_world(_world)
+    my_world(_world),
+    sgp_config(_config)
   {
-    // sgp_config = _config;
+    
   }
 
   /**
@@ -78,10 +79,9 @@ class SGPSymbiont : public Symbiont {
   ) :
     Symbiont(_random, _world, _config, _intval, _points),
     hardware(_world, this, genome),
-    my_world(_world)
-  {
-    // sgp_config = _config;
-  }
+    my_world(_world),
+    sgp_config(_config)
+  {}
 
   SGPSymbiont(const SGPSymbiont& symbiont) :
     Symbiont(symbiont),
@@ -220,7 +220,7 @@ class SGPSymbiont : public Symbiont {
     if (GetDead()) {
       return;
     }
-
+    
     GetHardware().GetCPUState().SetLocation(pos);
     if(my_host) my_world->TriggerBeforeEndoSymProcessSig(pos, *this, my_host); //Note: this is different than before_endosym_host_process_sig
     // Cash in cycles for this update

From 2311cac4ea602ff37aedc20d14d9ac389439832d Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Thu, 6 Aug 2026 15:55:10 -0500
Subject: [PATCH 06/18] adding prog builder

---
 source/sgp_mode/ProgramBuilder.h | 6 ++++++
 source/sgp_mode/SGPConfigSetup.h | 6 ++++++
 source/sgp_mode/SGPWorldSetup.cc | 9 +++++++--
 3 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/source/sgp_mode/ProgramBuilder.h b/source/sgp_mode/ProgramBuilder.h
index df5e385e..5cc42b2b 100644
--- a/source/sgp_mode/ProgramBuilder.h
+++ b/source/sgp_mode/ProgramBuilder.h
@@ -641,8 +641,14 @@ class ProgramBuilder {
    * Note: Warns if the program contains disabled instructions.
    */
   program_t LoadProgramFile(const std::filesystem::path& path) {
+    //std::cout << std::filesystem::exists(path) << std::endl;
+    
     program_t program(path);
+    //for (auto& inst : program){
+    //  std::cout << inst << std::endl;
+    //}
     RectifyWithWarning(program);
+    
     return program;
   }
 
diff --git a/source/sgp_mode/SGPConfigSetup.h b/source/sgp_mode/SGPConfigSetup.h
index b09d31fe..03aa51f6 100644
--- a/source/sgp_mode/SGPConfigSetup.h
+++ b/source/sgp_mode/SGPConfigSetup.h
@@ -32,6 +32,12 @@ EMP_EXTEND_CONFIG(SymConfigSGP, SymConfigBase,
   GROUP(SGP_MUTATION, "SGP mutation group"),
   VALUE(SGP_MUT_PER_BIT_RATE, double, 0.01, "Per-bit mutation rate for sgp programs"),
 
+  GROUP(CUSTOM_PROGRAM, "Custom Program Settings"),
+  VALUE(PROGRAM_PATH, std::string, "example-settings-cfg/NandProgram100.json", "Json file that provides a custom starting program"),
+  VALUE(HOST_PROGRAM_PATH, std::string, "-1", "Json file that provides hosts a custom starting program, if -1 uses PROGRAM_PATH"),
+  VALUE(SYM_PROGRAM_PATH, std::string, "-1", "Json file that provides symbionts a custom starting program, if -1 uses PROGRAM_PATH"),
+
+
   GROUP(STRESS, "Stress Settings"),
   VALUE(ENABLE_STRESS, bool, false, "Stress interactions enabled?"),
   VALUE(STRESS_TYPE, std::string, "mutualist", "What kind of stress symbionts should be incorporated in stressful environments? (Options: 'mutualist', 'parasite', 'neutral')"),
diff --git a/source/sgp_mode/SGPWorldSetup.cc b/source/sgp_mode/SGPWorldSetup.cc
index 3fd95371..b20e1c43 100644
--- a/source/sgp_mode/SGPWorldSetup.cc
+++ b/source/sgp_mode/SGPWorldSetup.cc
@@ -386,8 +386,12 @@ void SGPWorld::SetupHosts(long unsigned int* POP_SIZE) {
   for (size_t i = 0; i < init_pop_size; ++i) {
     emp::Ptr<sgp_host_t> new_host;
     sgp_prog_t init_prog(
-      prog_builder.CreateNandProgram(PROGRAM_LENGTH)
+      prog_builder.LoadProgramFile(sgp_config.PROGRAM_PATH())
+      //prog_builder.CreateNandProgram(PROGRAM_LENGTH)
     );
+    for (auto& inst : init_prog){
+      std::cout << inst.GetOpName() << std::endl;
+    }
     switch (sgp_org_type) {
       case org_mode_t::DEFAULT:
         new_host = emp::NewPtr<sgp_host_t>(
@@ -410,7 +414,8 @@ void SGPWorld::SetupHosts(long unsigned int* POP_SIZE) {
     // - these endosymbionts have empty programs?
     if (sgp_config.START_MOI() == 1) {
       sgp_prog_t sym_prog(
-        prog_builder.CreateNandProgram(PROGRAM_LENGTH)
+        prog_builder.LoadProgramFile(sgp_config.PROGRAM_PATH())
+        //prog_builder.CreateNandProgram(PROGRAM_LENGTH)
       );
       emp::Ptr<sgp_sym_t> new_sym = emp::NewPtr<sgp_sym_t>(
         random_ptr,

From e8b707395d2ba97879472fef5cb5a8f4460980c3 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Mon, 10 Aug 2026 12:30:53 -0500
Subject: [PATCH 07/18] fixed custom programs

---
 example-settings-cfg/NandProgram100.json      |  4 +--
 example-settings-cfg/NotNandProgram100.json   |  4 +--
 example-settings-cfg/NotProgram100.json       |  4 +--
 source/sgp_mode/ProgramBuilder.h              |  4 ---
 source/sgp_mode/SGPWorldSetup.cc              |  7 ++---
 .../functional_tests/ProgramBuilder.test.cc   | 29 +++++++++++++++++++
 6 files changed, 37 insertions(+), 15 deletions(-)

diff --git a/example-settings-cfg/NandProgram100.json b/example-settings-cfg/NandProgram100.json
index 5e227a9c..e60d1d29 100644
--- a/example-settings-cfg/NandProgram100.json
+++ b/example-settings-cfg/NandProgram100.json
@@ -7,7 +7,7 @@
                 "value1": 0,
                 "value2": 0
             },
-            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "bitstring": "1111111111111111111111111111111111111111111111111111111111111111",
             "descriptors": [
                 {
                     "key": "summary",
@@ -15,7 +15,7 @@
                 },
                 {
                     "key": "tag bits",
-                    "value": "0000000000000000000000000000000000000000000000000000000000000000"
+                    "value": "1111111111111111111111111111111111111111111111111111111111111111"
                 },
                 {
                     "key": "tag moniker",
diff --git a/example-settings-cfg/NotNandProgram100.json b/example-settings-cfg/NotNandProgram100.json
index aaf90250..fba55256 100644
--- a/example-settings-cfg/NotNandProgram100.json
+++ b/example-settings-cfg/NotNandProgram100.json
@@ -7,7 +7,7 @@
                 "value1": 0,
                 "value2": 0
             },
-            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "bitstring": "1111111111111111111111111111111111111111111111111111111111111111",
             "descriptors": [
                 {
                     "key": "summary",
@@ -15,7 +15,7 @@
                 },
                 {
                     "key": "tag bits",
-                    "value": "0000000000000000000000000000000000000000000000000000000000000000"
+                    "value": "1111111111111111111111111111111111111111111111111111111111111111"
                 },
                 {
                     "key": "tag moniker",
diff --git a/example-settings-cfg/NotProgram100.json b/example-settings-cfg/NotProgram100.json
index 4fa831be..7377f867 100644
--- a/example-settings-cfg/NotProgram100.json
+++ b/example-settings-cfg/NotProgram100.json
@@ -7,7 +7,7 @@
                 "value1": 0,
                 "value2": 0
             },
-            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "bitstring": "1111111111111111111111111111111111111111111111111111111111111111 ",
             "descriptors": [
                 {
                     "key": "summary",
@@ -15,7 +15,7 @@
                 },
                 {
                     "key": "tag bits",
-                    "value": "0000000000000000000000000000000000000000000000000000000000000000"
+                    "value": "1111111111111111111111111111111111111111111111111111111111111111"
                 },
                 {
                     "key": "tag moniker",
diff --git a/source/sgp_mode/ProgramBuilder.h b/source/sgp_mode/ProgramBuilder.h
index 5cc42b2b..905ab06d 100644
--- a/source/sgp_mode/ProgramBuilder.h
+++ b/source/sgp_mode/ProgramBuilder.h
@@ -641,12 +641,8 @@ class ProgramBuilder {
    * Note: Warns if the program contains disabled instructions.
    */
   program_t LoadProgramFile(const std::filesystem::path& path) {
-    //std::cout << std::filesystem::exists(path) << std::endl;
     
     program_t program(path);
-    //for (auto& inst : program){
-    //  std::cout << inst << std::endl;
-    //}
     RectifyWithWarning(program);
     
     return program;
diff --git a/source/sgp_mode/SGPWorldSetup.cc b/source/sgp_mode/SGPWorldSetup.cc
index b20e1c43..b1a51828 100644
--- a/source/sgp_mode/SGPWorldSetup.cc
+++ b/source/sgp_mode/SGPWorldSetup.cc
@@ -386,12 +386,9 @@ void SGPWorld::SetupHosts(long unsigned int* POP_SIZE) {
   for (size_t i = 0; i < init_pop_size; ++i) {
     emp::Ptr<sgp_host_t> new_host;
     sgp_prog_t init_prog(
-      prog_builder.LoadProgramFile(sgp_config.PROGRAM_PATH())
-      //prog_builder.CreateNandProgram(PROGRAM_LENGTH)
+      //prog_builder.LoadProgramFile(sgp_config.PROGRAM_PATH())
+      prog_builder.CreateNandProgram(PROGRAM_LENGTH)
     );
-    for (auto& inst : init_prog){
-      std::cout << inst.GetOpName() << std::endl;
-    }
     switch (sgp_org_type) {
       case org_mode_t::DEFAULT:
         new_host = emp::NewPtr<sgp_host_t>(
diff --git a/source/test/sgp_mode_test/functional_tests/ProgramBuilder.test.cc b/source/test/sgp_mode_test/functional_tests/ProgramBuilder.test.cc
index 86a3efbb..956baf02 100644
--- a/source/test/sgp_mode_test/functional_tests/ProgramBuilder.test.cc
+++ b/source/test/sgp_mode_test/functional_tests/ProgramBuilder.test.cc
@@ -149,6 +149,35 @@ TEST_CASE("ProgramBuilder generates a programs as advertised", "[sgp]") {
     );
   }
 
+  WHEN("creating a NAND program from path") {
+    hw.Reset();
+    // Set program of organism to something else
+    hw.SetProgram(
+      world.GetProgramBuilder().LoadProgramFile("source/test/sgp_mode_test/NandProgram100.json")
+    );
+    world.AssignNewEnvIO(hw.GetCPUState());
+
+    // Run organism's hardware for 52 steps
+    hw.RunCPUStep(102);
+    auto& output_buffer = hw.GetCPUState().GetOutputBuffer();
+    CheckTaskProfile(
+      world,
+      hw,
+      {},
+      { "NOT","NAND","OR_NOT","AND","OR","AND_NOT","NOR","XOR","EQU" }
+    );
+    REQUIRE(output_buffer.size() > 0);
+    sgp_host.ProcessOutputBuffer();
+    REQUIRE(output_buffer.size() == 0);
+    CheckTaskProfile(
+      world,
+      hw,
+      { "NAND" },
+      { "NOT", "OR_NOT","AND","OR","AND_NOT","XOR","NOR","EQU" }
+    );
+  }
+
+
   WHEN("creating a repro program") {
     hw.Reset();
     // Set program of organism to something else

From be6be4c9a8ba40a6c075b00afde746fe0e900651 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Mon, 10 Aug 2026 14:27:30 -0500
Subject: [PATCH 08/18] made fixes, removed my name from tests teehee

---
 source/sgp_mode/SGPHost.h                          |  9 ++-------
 source/sgp_mode/SGPWorld.h                         |  3 ---
 source/sgp_mode/hardware/CPUState.h                |  4 ----
 .../test/sgp_mode_test/unit_tests/SGPHost.test.cc  | 10 +++++++---
 .../sgp_mode_test/unit_tests/SGPSymbiont.test.cc   | 14 ++++++++++----
 5 files changed, 19 insertions(+), 21 deletions(-)

diff --git a/source/sgp_mode/SGPHost.h b/source/sgp_mode/SGPHost.h
index d7aa2e0f..79c52248 100644
--- a/source/sgp_mode/SGPHost.h
+++ b/source/sgp_mode/SGPHost.h
@@ -82,7 +82,7 @@ class SGPHost : public Host {
     Host(_random, _world, _config, _intval, _syms, _repro_syms, _points),
     hardware(_world, this),
     my_world(_world),
-      sgp_config(_config)
+    sgp_config(_config)
   { }
 
   /**
@@ -101,7 +101,7 @@ class SGPHost : public Host {
     Host(_random, _world, _config, _intval, _syms, _repro_syms, _points),
     hardware(_world, this, genome),
     my_world(_world),
-      sgp_config(_config)
+    sgp_config(_config)
   { }
 
   SGPHost(const SGPHost& host) :
@@ -171,11 +171,6 @@ class SGPHost : public Host {
    */
   void SetReproCount(size_t _in) { reproductions = _in; }
 
-  //void SetLocation(emp::WorldPosition pos) {
-    //hardware.GetCPUState().SetLocation(pos);
-    //Host::SetLocation(pos);
-  //}
-
   void DecPoints(double amt) {
     points -= amt;
 
diff --git a/source/sgp_mode/SGPWorld.h b/source/sgp_mode/SGPWorld.h
index 9d491073..e4fd9ad2 100644
--- a/source/sgp_mode/SGPWorld.h
+++ b/source/sgp_mode/SGPWorld.h
@@ -446,9 +446,6 @@ class SGPWorld : public SymWorld {
       (static_cast<sgp_sym_t*>(org_ptr.Raw()))->GetHardware().GetCPUState();
   }
 
-  // -- Signals to allow custom behavior to be triggered by other classes -- /
-  // AEV question: getter methods for these?
-
   // begin_update_sig - Triggers at the beginning of an Update call.
   //  Triggers before schedule update, before processing any organisms.
   //  E.g., used for resetting any per-update data tracking.
diff --git a/source/sgp_mode/hardware/CPUState.h b/source/sgp_mode/hardware/CPUState.h
index 258cfee9..4d368e42 100644
--- a/source/sgp_mode/hardware/CPUState.h
+++ b/source/sgp_mode/hardware/CPUState.h
@@ -86,7 +86,6 @@ class CPUState {
   emp::Ptr<Organism> organism; // Unowned pointer to organism using this CPU.
   emp::Ptr<world_t> world_ptr; // Unowned pointer to the world using this CPU.
 
-  //emp::WorldPosition location;
 
 public:
   CPUState(
@@ -148,7 +147,6 @@ class CPUState {
 
     jump_table.clear();
 
-    //location = emp::WorldPosition();
   }
 
   // Reset cpu state, but keep num_tasks the same.
@@ -220,8 +218,6 @@ class CPUState {
     }
   }
 
-  // const emp::WorldPosition& GetLocation() const { return loc; }
-
   void SetOrganism(emp::Ptr<Organism> org_ptr) {
     organism = org_ptr;
   }
diff --git a/source/test/sgp_mode_test/unit_tests/SGPHost.test.cc b/source/test/sgp_mode_test/unit_tests/SGPHost.test.cc
index 61900c52..e9d79577 100644
--- a/source/test/sgp_mode_test/unit_tests/SGPHost.test.cc
+++ b/source/test/sgp_mode_test/unit_tests/SGPHost.test.cc
@@ -311,7 +311,7 @@ TEST_CASE("Check that hosts and syms can't have negative points", "[sgp][sgp-uni
   }
 }
 
-TEST_CASE("CPUState and SGPHost always have the same location","[sgp][elias]"){
+TEST_CASE("CPUState and SGPHost always have the same location","[sgp]"){
   using world_t = sgpmode::SGPWorld;
   using cpu_state_t = sgpmode::CPUState<world_t>;
   using hw_spec_t = sgpmode::SGPHardwareSpec<sgpmode::Library, cpu_state_t, world_t>;
@@ -325,11 +325,15 @@ TEST_CASE("CPUState and SGPHost always have the same location","[sgp][elias]"){
   emp::Ptr<sgp_host_t> host = emp::NewPtr<sgp_host_t>(&random, &world, &config, prog_builder.CreateReproProgram(100));
   
   WHEN("Initialized"){
-   REQUIRE(host->GetHardware().GetCPUState().GetLocation().GetIndex() == host->GetLocation().GetIndex());
+    THEN("Host and CPUState return the same location"){
+      REQUIRE(host->GetHardware().GetCPUState().GetLocation().GetIndex() == host->GetLocation().GetIndex());
+    }
   }
   WHEN("Host has location set"){
     host->SetLocation(emp::WorldPosition(1, 2));
-    REQUIRE(host->GetHardware().GetCPUState().GetLocation().GetIndex() == host->GetLocation().GetIndex());
+    THEN("Symbiont and CPUState return the same location"){
+      REQUIRE(host->GetHardware().GetCPUState().GetLocation().GetIndex() == host->GetLocation().GetIndex());
+    }
   }
   WHEN("CPUState has location set"){
     host->GetHardware().GetCPUState().SetLocation(emp::WorldPosition(3, 4));
diff --git a/source/test/sgp_mode_test/unit_tests/SGPSymbiont.test.cc b/source/test/sgp_mode_test/unit_tests/SGPSymbiont.test.cc
index b5d62848..ef10e8a8 100644
--- a/source/test/sgp_mode_test/unit_tests/SGPSymbiont.test.cc
+++ b/source/test/sgp_mode_test/unit_tests/SGPSymbiont.test.cc
@@ -133,7 +133,7 @@ TEST_CASE("Symbiont Process", "[sgp][sgp-unit]") {
 //   }
 // }
 
-TEST_CASE("CPUState and SGPSymbiont always have the same location","[sgp][elias]"){
+TEST_CASE("CPUState and SGPSymbiont always have the same location","[sgp]"){
   using world_t = sgpmode::SGPWorld;
   using cpu_state_t = sgpmode::CPUState<world_t>;
   using hw_spec_t = sgpmode::SGPHardwareSpec<sgpmode::Library, cpu_state_t, world_t>;
@@ -147,15 +147,21 @@ TEST_CASE("CPUState and SGPSymbiont always have the same location","[sgp][elias]
   emp::Ptr<sgp_sym_t> sym = emp::NewPtr<sgp_sym_t>(&random, &world, &config, prog_builder.CreateReproProgram(100));
   
   WHEN("Initialized"){
-    REQUIRE(sym->GetHardware().GetCPUState().GetLocation().GetIndex() == sym->GetLocation().GetIndex());
+    THEN("Symbiont and CPUState return the same location"){
+      REQUIRE(sym->GetHardware().GetCPUState().GetLocation().GetIndex() == sym->GetLocation().GetIndex());
+    }
   }
 
   WHEN("Symbiont has location set"){
     sym->SetLocation(emp::WorldPosition(1, 2));
-    REQUIRE(sym->GetHardware().GetCPUState().GetLocation().GetIndex() == sym->GetLocation().GetIndex());
+    THEN("Symbiont and CPUState return the same location"){
+      REQUIRE(sym->GetHardware().GetCPUState().GetLocation().GetIndex() == sym->GetLocation().GetIndex());
+    }
   }
   WHEN("CPUState has location set"){
     sym->GetHardware().GetCPUState().SetLocation(emp::WorldPosition(3, 4));
-    REQUIRE(sym->GetHardware().GetCPUState().GetLocation().GetIndex() == sym->GetLocation().GetIndex());
+    THEN("Symbiont and CPUState return the same location"){
+      REQUIRE(sym->GetHardware().GetCPUState().GetLocation().GetIndex() == sym->GetLocation().GetIndex());
+    }
   }
 }
\ No newline at end of file

From 1f7e009bba358d5ce51dfe7ea73c8fbbe120649e Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Mon, 10 Aug 2026 15:51:18 -0500
Subject: [PATCH 09/18] fixed tag moniker(kinda)

---
 example-settings-cfg/NandProgram100.json    | 2 +-
 example-settings-cfg/NotNandProgram100.json | 2 +-
 example-settings-cfg/NotProgram100.json     | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/example-settings-cfg/NandProgram100.json b/example-settings-cfg/NandProgram100.json
index e60d1d29..88f2aa82 100644
--- a/example-settings-cfg/NandProgram100.json
+++ b/example-settings-cfg/NandProgram100.json
@@ -19,7 +19,7 @@
                 },
                 {
                     "key": "tag moniker",
-                    "value": "sad ibex"
+                    "value": "flawed mayfly"
                 }
             ]
         },
diff --git a/example-settings-cfg/NotNandProgram100.json b/example-settings-cfg/NotNandProgram100.json
index fba55256..8f7d40cc 100644
--- a/example-settings-cfg/NotNandProgram100.json
+++ b/example-settings-cfg/NotNandProgram100.json
@@ -19,7 +19,7 @@
                 },
                 {
                     "key": "tag moniker",
-                    "value": "sad ibex"
+                    "value": "flawed mayfly"
                 }
             ]
         },
diff --git a/example-settings-cfg/NotProgram100.json b/example-settings-cfg/NotProgram100.json
index 7377f867..8cd1e000 100644
--- a/example-settings-cfg/NotProgram100.json
+++ b/example-settings-cfg/NotProgram100.json
@@ -19,7 +19,7 @@
                 },
                 {
                     "key": "tag moniker",
-                    "value": "sad ibex"
+                    "value": "flawed mayfly"
                 }
             ]
         },

From 05c372ceca123625a364ca99379f331e9906af21 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Mon, 10 Aug 2026 15:55:59 -0500
Subject: [PATCH 10/18] started working on program path stuff, will return to
 soon

---
 source/sgp_mode/SGPConfigSetup.h              |  5 ++---
 source/sgp_mode/SGPWorldSetup.cc              | 20 ++++++++++++++++---
 source/sgp_mode/tasks/LogicTaskEnvironment.h  |  2 ++
 .../unit_tests/ProgramBuilder.test.cc         |  7 ++++++-
 4 files changed, 27 insertions(+), 7 deletions(-)

diff --git a/source/sgp_mode/SGPConfigSetup.h b/source/sgp_mode/SGPConfigSetup.h
index 03aa51f6..1fe9810b 100644
--- a/source/sgp_mode/SGPConfigSetup.h
+++ b/source/sgp_mode/SGPConfigSetup.h
@@ -33,9 +33,8 @@ EMP_EXTEND_CONFIG(SymConfigSGP, SymConfigBase,
   VALUE(SGP_MUT_PER_BIT_RATE, double, 0.01, "Per-bit mutation rate for sgp programs"),
 
   GROUP(CUSTOM_PROGRAM, "Custom Program Settings"),
-  VALUE(PROGRAM_PATH, std::string, "example-settings-cfg/NandProgram100.json", "Json file that provides a custom starting program"),
-  VALUE(HOST_PROGRAM_PATH, std::string, "-1", "Json file that provides hosts a custom starting program, if -1 uses PROGRAM_PATH"),
-  VALUE(SYM_PROGRAM_PATH, std::string, "-1", "Json file that provides symbionts a custom starting program, if -1 uses PROGRAM_PATH"),
+  VALUE(HOST_PROGRAM_PATH, std::string, "Default-Config-jsons/NandProgram100.json", "Json file that provides hosts a custom starting program"),
+  VALUE(SYM_PROGRAM_PATH, std::string, "Default-Config-jsons/NandProgram100.json", "Json file that provides symbionts a custom starting program"),
 
 
   GROUP(STRESS, "Stress Settings"),
diff --git a/source/sgp_mode/SGPWorldSetup.cc b/source/sgp_mode/SGPWorldSetup.cc
index b1a51828..8e11de58 100644
--- a/source/sgp_mode/SGPWorldSetup.cc
+++ b/source/sgp_mode/SGPWorldSetup.cc
@@ -383,11 +383,18 @@ void SGPWorld::SetupHosts(long unsigned int* POP_SIZE) {
 
   const size_t init_pop_size = *POP_SIZE;
   emp_assert(init_pop_size <= scheduler.GetScheduleSize());
+  const bool host_prog_file_exists = std::filesystem::exists(sgp_config.HOST_PROGRAM_PATH());
+  if (!host_prog_file_exists) {
+    std::cout << "Host program file does not exist: " << sgp_config.HOST_PROGRAM_PATH() << std::endl;
+
+    //Check if config is default, then create file of default task(differntial)
+    std::exit(EXIT_FAILURE);
+  }
   for (size_t i = 0; i < init_pop_size; ++i) {
     emp::Ptr<sgp_host_t> new_host;
     sgp_prog_t init_prog(
-      //prog_builder.LoadProgramFile(sgp_config.PROGRAM_PATH())
-      prog_builder.CreateNandProgram(PROGRAM_LENGTH)
+      prog_builder.LoadProgramFile(sgp_config.HOST_PROGRAM_PATH())
+      //prog_builder.CreateNandProgram(PROGRAM_LENGTH)
     );
     switch (sgp_org_type) {
       case org_mode_t::DEFAULT:
@@ -410,8 +417,15 @@ void SGPWorld::SetupHosts(long unsigned int* POP_SIZE) {
     // NOTE - what about other Start MOI values?
     // - these endosymbionts have empty programs?
     if (sgp_config.START_MOI() == 1) {
+      const bool sym_prog_file_exists = std::filesystem::exists(sgp_config.SYM_PROGRAM_PATH());
+      if (!sym_prog_file_exists) {
+        std::cout << "Symbiont program file does not exist: " << sgp_config.SYM_PROGRAM_PATH() << std::endl;
+
+        //Check if config is default, then create file of default task(differntial)
+        std::exit(EXIT_FAILURE);
+      }
       sgp_prog_t sym_prog(
-        prog_builder.LoadProgramFile(sgp_config.PROGRAM_PATH())
+        prog_builder.LoadProgramFile(sgp_config.SYM_PROGRAM_PATH())
         //prog_builder.CreateNandProgram(PROGRAM_LENGTH)
       );
       emp::Ptr<sgp_sym_t> new_sym = emp::NewPtr<sgp_sym_t>(
diff --git a/source/sgp_mode/tasks/LogicTaskEnvironment.h b/source/sgp_mode/tasks/LogicTaskEnvironment.h
index d5add786..d67402ef 100644
--- a/source/sgp_mode/tasks/LogicTaskEnvironment.h
+++ b/source/sgp_mode/tasks/LogicTaskEnvironment.h
@@ -185,6 +185,8 @@ void LogicTaskEnvironment::LoadTasks(const std::string& env_filepath) {
   const bool env_file_exists = std::filesystem::exists(env_filepath);
   if (!env_file_exists) {
     std::cout << "Environment file does not exist: " << env_filepath << std::endl;
+
+    //Check if config is default, then create file of default task(differntial)
     std::exit(EXIT_FAILURE);
   }
   // If environment file exists, read it.
diff --git a/source/test/sgp_mode_test/unit_tests/ProgramBuilder.test.cc b/source/test/sgp_mode_test/unit_tests/ProgramBuilder.test.cc
index ff38c0ad..568cc255 100644
--- a/source/test/sgp_mode_test/unit_tests/ProgramBuilder.test.cc
+++ b/source/test/sgp_mode_test/unit_tests/ProgramBuilder.test.cc
@@ -638,12 +638,17 @@ std::string ReadFileContents(const std::filesystem::path& path) {
   return oss.str();
 }
 
-TEST_CASE("Example program files regenerate identically", "[sgp][sgp-unit]"){
+TEST_CASE("Example program files regenerate identically", "[sgp][sgp-unit][elias]"){
+  using tag_t = typename hw_spec_t::tag_t;
   GIVEN("A program builder"){
     const size_t program_len = 100;
+    
     sgpl::OpCodeRectifier<sgpmode::Library> rectifier;
     sgpmode::ProgramBuilder<hw_spec_t> builder(rectifier);
 
+    tag_t START_TAG;
+    START_TAG.SetUInt64(0, std::numeric_limits<uint64_t>::max());
+    builder.SetStartTag(START_TAG);
     WHEN("NotProgram100.json is regenerated"){
       const std::string json_str = builder.MakeJsonString(
         builder.CreateNotProgram(program_len)

From 11d618b7c564987b81ca0a6b1fae086dc8392214 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Tue, 11 Aug 2026 09:46:36 -0500
Subject: [PATCH 11/18] added default creation

---
 source/sgp_mode/SGPWorld.h       |  3 +++
 source/sgp_mode/SGPWorldSetup.cc | 12 ++++++++++++
 2 files changed, 15 insertions(+)

diff --git a/source/sgp_mode/SGPWorld.h b/source/sgp_mode/SGPWorld.h
index e4fd9ad2..bb4d1b8a 100644
--- a/source/sgp_mode/SGPWorld.h
+++ b/source/sgp_mode/SGPWorld.h
@@ -21,6 +21,7 @@
 
 #include <functional>
 #include <filesystem>
+#include <fstream>
 
 // TODO - Document how each base configuration works for SGPWorld
 // TODO - Comments for every member variable / function / type alias
@@ -415,6 +416,8 @@ class SGPWorld : public SymWorld {
   void SetupStressInteractions();
   void SetupHealthInteractions();
   void SetupNutrientInteractions();
+  
+  void GenerateDefaultProgram();
 
   // Clear all world signals
   void ClearWorldSignals() {
diff --git a/source/sgp_mode/SGPWorldSetup.cc b/source/sgp_mode/SGPWorldSetup.cc
index 8e11de58..9539dedd 100644
--- a/source/sgp_mode/SGPWorldSetup.cc
+++ b/source/sgp_mode/SGPWorldSetup.cc
@@ -572,6 +572,18 @@ void SGPWorld::SetupMutator() {
   //        same with endosymbionts / etc
 }
 
+
+void SGPWorld::GenerateDefaultProgram(bool is_host){
+  std::string path;
+  if(is_host){
+    path = sgp_config.HOST_PROGRAM_PATH();
+  }
+  else{
+    path = sgp_config.SYM_PROGRAM_PATH();
+  }
+  SaveProgramFile(prog_builder.CreateNandProgram(PROGRAM_LENGTH), path);
+}
+
 }
 
 #endif
\ No newline at end of file

From 923b7445c1aebe866509761d2b172ee407a39761 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Tue, 11 Aug 2026 16:05:26 -0500
Subject: [PATCH 12/18] added default construction and checking for genomes

---
 source/sgp_mode/SGPConfigSetup.h |  4 ++--
 source/sgp_mode/SGPWorld.h       |  2 +-
 source/sgp_mode/SGPWorldSetup.cc | 23 +++++++++++++++++++----
 3 files changed, 22 insertions(+), 7 deletions(-)

diff --git a/source/sgp_mode/SGPConfigSetup.h b/source/sgp_mode/SGPConfigSetup.h
index 1fe9810b..5295841f 100644
--- a/source/sgp_mode/SGPConfigSetup.h
+++ b/source/sgp_mode/SGPConfigSetup.h
@@ -33,8 +33,8 @@ EMP_EXTEND_CONFIG(SymConfigSGP, SymConfigBase,
   VALUE(SGP_MUT_PER_BIT_RATE, double, 0.01, "Per-bit mutation rate for sgp programs"),
 
   GROUP(CUSTOM_PROGRAM, "Custom Program Settings"),
-  VALUE(HOST_PROGRAM_PATH, std::string, "Default-Config-jsons/NandProgram100.json", "Json file that provides hosts a custom starting program"),
-  VALUE(SYM_PROGRAM_PATH, std::string, "Default-Config-jsons/NandProgram100.json", "Json file that provides symbionts a custom starting program"),
+  VALUE(HOST_PROGRAM_PATH, std::string, "NewDefault.json", "Json file that provides hosts a custom starting program"),
+  VALUE(SYM_PROGRAM_PATH, std::string, "SymNewDefault.json", "Json file that provides symbionts a custom starting program"),
 
 
   GROUP(STRESS, "Stress Settings"),
diff --git a/source/sgp_mode/SGPWorld.h b/source/sgp_mode/SGPWorld.h
index bb4d1b8a..1c338397 100644
--- a/source/sgp_mode/SGPWorld.h
+++ b/source/sgp_mode/SGPWorld.h
@@ -417,7 +417,7 @@ class SGPWorld : public SymWorld {
   void SetupHealthInteractions();
   void SetupNutrientInteractions();
   
-  void GenerateDefaultProgram();
+  void GenerateDefaultProgram(bool is_host);
 
   // Clear all world signals
   void ClearWorldSignals() {
diff --git a/source/sgp_mode/SGPWorldSetup.cc b/source/sgp_mode/SGPWorldSetup.cc
index 9539dedd..84e02255 100644
--- a/source/sgp_mode/SGPWorldSetup.cc
+++ b/source/sgp_mode/SGPWorldSetup.cc
@@ -385,9 +385,17 @@ void SGPWorld::SetupHosts(long unsigned int* POP_SIZE) {
   emp_assert(init_pop_size <= scheduler.GetScheduleSize());
   const bool host_prog_file_exists = std::filesystem::exists(sgp_config.HOST_PROGRAM_PATH());
   if (!host_prog_file_exists) {
+    if(sgp_config["HOST_PROGRAM_PATH"]->GetDefault() == sgp_config["HOST_PROGRAM_PATH"]->GetLiteralValue()){
+      std::cout << "Default Host program file does not exist: " << sgp_config.HOST_PROGRAM_PATH() << std::endl;
+      std::cout << "Generating now... "  << std::endl;
+      GenerateDefaultProgram(true);
+      std::cout << "Run ./symbulation_sgp again to use new Host program" << std::endl;
+      std::cout << "Exiting.." << std::endl;
+    }
+    else{
     std::cout << "Host program file does not exist: " << sgp_config.HOST_PROGRAM_PATH() << std::endl;
+    }
 
-    //Check if config is default, then create file of default task(differntial)
     std::exit(EXIT_FAILURE);
   }
   for (size_t i = 0; i < init_pop_size; ++i) {
@@ -419,9 +427,16 @@ void SGPWorld::SetupHosts(long unsigned int* POP_SIZE) {
     if (sgp_config.START_MOI() == 1) {
       const bool sym_prog_file_exists = std::filesystem::exists(sgp_config.SYM_PROGRAM_PATH());
       if (!sym_prog_file_exists) {
+        if(sgp_config["SYM_PROGRAM_PATH"]->GetDefault() == sgp_config["SYM_PROGRAM_PATH"]->GetLiteralValue()){
+          std::cout << "Default Symbiont program file does not exist: " << sgp_config.SYM_PROGRAM_PATH() << std::endl;
+          std::cout << "Generating now... "  << std::endl;
+          GenerateDefaultProgram(false);
+          std::cout << "Run ./symbulation_sgp again to use new Symbiont program" << std::endl;
+          std::cout << "Exiting.." << std::endl;
+        }
+        else{
         std::cout << "Symbiont program file does not exist: " << sgp_config.SYM_PROGRAM_PATH() << std::endl;
-
-        //Check if config is default, then create file of default task(differntial)
+        }
         std::exit(EXIT_FAILURE);
       }
       sgp_prog_t sym_prog(
@@ -581,7 +596,7 @@ void SGPWorld::GenerateDefaultProgram(bool is_host){
   else{
     path = sgp_config.SYM_PROGRAM_PATH();
   }
-  SaveProgramFile(prog_builder.CreateNandProgram(PROGRAM_LENGTH), path);
+  prog_builder.SaveProgramFile(prog_builder.CreateNandProgram(PROGRAM_LENGTH), path);
 }
 
 }

From fefb72581bc5f9fb324a02642b032703962dd996 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Tue, 11 Aug 2026 16:36:01 -0500
Subject: [PATCH 13/18] fixed tests

---
 example-settings-cfg/NotProgram100.json   | 2 +-
 example-settings-cfg/ReproProgram100.json | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/example-settings-cfg/NotProgram100.json b/example-settings-cfg/NotProgram100.json
index 8cd1e000..2b5e83ae 100644
--- a/example-settings-cfg/NotProgram100.json
+++ b/example-settings-cfg/NotProgram100.json
@@ -7,7 +7,7 @@
                 "value1": 0,
                 "value2": 0
             },
-            "bitstring": "1111111111111111111111111111111111111111111111111111111111111111 ",
+            "bitstring": "1111111111111111111111111111111111111111111111111111111111111111",
             "descriptors": [
                 {
                     "key": "summary",
diff --git a/example-settings-cfg/ReproProgram100.json b/example-settings-cfg/ReproProgram100.json
index afa02815..d2139506 100644
--- a/example-settings-cfg/ReproProgram100.json
+++ b/example-settings-cfg/ReproProgram100.json
@@ -7,7 +7,7 @@
                 "value1": 0,
                 "value2": 0
             },
-            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "bitstring": "1111111111111111111111111111111111111111111111111111111111111111",
             "descriptors": [
                 {
                     "key": "summary",
@@ -15,11 +15,11 @@
                 },
                 {
                     "key": "tag bits",
-                    "value": "0000000000000000000000000000000000000000000000000000000000000000"
+                    "value": "1111111111111111111111111111111111111111111111111111111111111111"
                 },
                 {
                     "key": "tag moniker",
-                    "value": "sad ibex"
+                    "value": "flawed mayfly"
                 }
             ]
         },

From 10674c524321b49eb4127a75141fa2ec4b0a4408 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Tue, 11 Aug 2026 16:38:24 -0500
Subject: [PATCH 14/18] changed default configs

---
 source/sgp_mode/SGPConfigSetup.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/source/sgp_mode/SGPConfigSetup.h b/source/sgp_mode/SGPConfigSetup.h
index 5295841f..1fe9810b 100644
--- a/source/sgp_mode/SGPConfigSetup.h
+++ b/source/sgp_mode/SGPConfigSetup.h
@@ -33,8 +33,8 @@ EMP_EXTEND_CONFIG(SymConfigSGP, SymConfigBase,
   VALUE(SGP_MUT_PER_BIT_RATE, double, 0.01, "Per-bit mutation rate for sgp programs"),
 
   GROUP(CUSTOM_PROGRAM, "Custom Program Settings"),
-  VALUE(HOST_PROGRAM_PATH, std::string, "NewDefault.json", "Json file that provides hosts a custom starting program"),
-  VALUE(SYM_PROGRAM_PATH, std::string, "SymNewDefault.json", "Json file that provides symbionts a custom starting program"),
+  VALUE(HOST_PROGRAM_PATH, std::string, "Default-Config-jsons/NandProgram100.json", "Json file that provides hosts a custom starting program"),
+  VALUE(SYM_PROGRAM_PATH, std::string, "Default-Config-jsons/NandProgram100.json", "Json file that provides symbionts a custom starting program"),
 
 
   GROUP(STRESS, "Stress Settings"),

From 338f4fa65ab3dd5dc36aaf9f2f3cbf4ddb5a471d Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Wed, 12 Aug 2026 08:47:40 -0500
Subject: [PATCH 15/18] added default programs

---
 Default-Config-jsons/NandProgram100.json  | 1487 +++++++++++++++++++++
 Default-Config-jsons/diff-reward-env.json |   15 +
 2 files changed, 1502 insertions(+)
 create mode 100644 Default-Config-jsons/NandProgram100.json
 create mode 100644 Default-Config-jsons/diff-reward-env.json

diff --git a/Default-Config-jsons/NandProgram100.json b/Default-Config-jsons/NandProgram100.json
new file mode 100644
index 00000000..e60d1d29
--- /dev/null
+++ b/Default-Config-jsons/NandProgram100.json
@@ -0,0 +1,1487 @@
+{
+    "value0": [
+        {
+            "operation": "Global Anchor",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "1111111111111111111111111111111111111111111111111111111111111111",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "register a global jump-to destination, maybe terminate"
+                },
+                {
+                    "key": "tag bits",
+                    "value": "1111111111111111111111111111111111111111111111111111111111111111"
+                },
+                {
+                    "key": "tag moniker",
+                    "value": "sad ibex"
+                }
+            ]
+        },
+        {
+            "operation": "IO",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": []
+        },
+        {
+            "operation": "IO",
+            "args": {
+                "value0": 1,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": []
+        },
+        {
+            "operation": "IO",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": []
+        },
+        {
+            "operation": "Nand",
+            "args": {
+                "value0": 0,
+                "value1": 1,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": []
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
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+            "descriptors": [
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+            "args": {
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+                    "value": "perform no operation"
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+                "value2": 0
+            },
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+            "descriptors": [
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+                "value2": 0
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+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
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+            "args": {
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+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
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+                    "value": "perform no operation"
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+                "value1": 0,
+                "value2": 0
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+            "descriptors": [
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+                    "key": "summary",
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+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
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+            "descriptors": [
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+            "descriptors": [
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+            "args": {
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+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
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+                    "key": "summary",
+                    "value": "perform no operation"
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+            "args": {
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+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
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+        },
+        {
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+            "args": {
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+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
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+                    "value": "perform no operation"
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+        },
+        {
+            "operation": "Nop-0",
+            "args": {
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+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
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+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
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+                    "value": "perform no operation"
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+        },
+        {
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+            "args": {
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+                "value1": 0,
+                "value2": 0
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+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
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+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
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+        {
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+            "args": {
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+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
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+        },
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+            "args": {
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+                "value1": 0,
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+            "descriptors": [
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+            "args": {
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+                "value1": 0,
+                "value2": 0
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+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
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+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Reproduce",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": []
+        }
+    ]
+}
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diff --git a/Default-Config-jsons/diff-reward-env.json b/Default-Config-jsons/diff-reward-env.json
new file mode 100644
index 00000000..6ff8a65f
--- /dev/null
+++ b/Default-Config-jsons/diff-reward-env.json
@@ -0,0 +1,15 @@
+{
+  "shared": {
+    "tasks": [
+      {"name": "NAND", "value": 1, "reward_mode": "add"},
+      {"name": "NOT", "value": 1, "reward_mode": "add"},
+      {"name": "OR_NOT", "value": 2, "reward_mode": "add"},
+      {"name": "AND", "value": 2, "reward_mode": "add"},
+      {"name": "OR", "value": 4, "reward_mode": "add"},
+      {"name": "AND_NOT", "value": 4, "reward_mode": "add"},
+      {"name": "NOR", "value": 8, "reward_mode": "add"},
+      {"name": "XOR", "value": 8, "reward_mode": "add"},
+      {"name": "EQU", "value": 16, "reward_mode": "add"}
+    ]
+  }
+}
\ No newline at end of file

From 740df36367506b431e7560a52e704a62bbc735e0 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Wed, 12 Aug 2026 10:48:41 -0500
Subject: [PATCH 16/18] added nand test program

---
 source/test/sgp_mode_test/NandProgram100.json | 1487 +++++++++++++++++
 1 file changed, 1487 insertions(+)
 create mode 100644 source/test/sgp_mode_test/NandProgram100.json

diff --git a/source/test/sgp_mode_test/NandProgram100.json b/source/test/sgp_mode_test/NandProgram100.json
new file mode 100644
index 00000000..88f2aa82
--- /dev/null
+++ b/source/test/sgp_mode_test/NandProgram100.json
@@ -0,0 +1,1487 @@
+{
+    "value0": [
+        {
+            "operation": "Global Anchor",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "1111111111111111111111111111111111111111111111111111111111111111",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "register a global jump-to destination, maybe terminate"
+                },
+                {
+                    "key": "tag bits",
+                    "value": "1111111111111111111111111111111111111111111111111111111111111111"
+                },
+                {
+                    "key": "tag moniker",
+                    "value": "flawed mayfly"
+                }
+            ]
+        },
+        {
+            "operation": "IO",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": []
+        },
+        {
+            "operation": "IO",
+            "args": {
+                "value0": 1,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": []
+        },
+        {
+            "operation": "IO",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": []
+        },
+        {
+            "operation": "Nand",
+            "args": {
+                "value0": 0,
+                "value1": 1,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": []
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
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+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
+                    "key": "summary",
+                    "value": "perform no operation"
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+            ]
+        },
+        {
+            "operation": "Nop-0",
+            "args": {
+                "value0": 0,
+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
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+                    "key": "summary",
+                    "value": "perform no operation"
+                }
+            ]
+        },
+        {
+            "operation": "Nop-0",
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+                "value1": 0,
+                "value2": 0
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+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
+                {
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+                    "value": "perform no operation"
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+            "args": {
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+                "value1": 0,
+                "value2": 0
+            },
+            "bitstring": "0000000000000000000000000000000000000000000000000000000000000000",
+            "descriptors": [
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+                    "key": "summary",
+                    "value": "perform no operation"
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+            "operation": "Nop-0",
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+                "value2": 0
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+            "descriptors": [
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+            "descriptors": [
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+            "descriptors": [
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From 1a1af53a52b0957398fc14c320557811a45ba07b Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Wed, 12 Aug 2026 12:46:33 -0500
Subject: [PATCH 17/18] added Task Env Default creation programs

---
 source/sgp_mode/SGPConfigSetup.h              |  2 +-
 source/sgp_mode/SGPWorld.h                    |  1 +
 source/sgp_mode/SGPWorldSetup.cc              | 45 +++++++++++++++++++
 source/sgp_mode/tasks/LogicTaskEnvironment.h  |  9 +---
 .../functional_tests/ProgramBuilder.test.cc   |  2 +-
 5 files changed, 49 insertions(+), 10 deletions(-)

diff --git a/source/sgp_mode/SGPConfigSetup.h b/source/sgp_mode/SGPConfigSetup.h
index 1fe9810b..12f0c14a 100644
--- a/source/sgp_mode/SGPConfigSetup.h
+++ b/source/sgp_mode/SGPConfigSetup.h
@@ -67,7 +67,7 @@ EMP_EXTEND_CONFIG(SymConfigSGP, SymConfigBase,
   VALUE(PARASITE_BASE_TASK_VALUE_PROP, double, 0.25, "Proportion of task value (defined by environment) that parasites receive when they fail to interact with their host."),
 
   GROUP(TASK_ENVIRONMENT, "Task environment settings"),
-  VALUE(TASK_ENV_CFG_PATH, std::string, "environment.json", "Json file that provides environment configuration"),
+  VALUE(TASK_ENV_CFG_PATH, std::string, "Default-Config-jsons/diff-reward-env.json", "Json file that provides environment configuration"),
   VALUE(TASK_IO_BANK_SIZE, size_t, 100000, "How many possible task input/output combinations to pre-generate?"),
   VALUE(TASK_IO_UNIQUE_OUTPUT, bool, true, "Should each output in the pregenerated io combinations be unique?"),
   VALUE(HOST_ONLY_FIRST_TASK_CREDIT, bool, false, "Only give host credit for one task (whatever they do first)?"),
diff --git a/source/sgp_mode/SGPWorld.h b/source/sgp_mode/SGPWorld.h
index 1c338397..20a0372c 100644
--- a/source/sgp_mode/SGPWorld.h
+++ b/source/sgp_mode/SGPWorld.h
@@ -418,6 +418,7 @@ class SGPWorld : public SymWorld {
   void SetupNutrientInteractions();
   
   void GenerateDefaultProgram(bool is_host);
+  void GenerateDefaultTaskEnvironment();
 
   // Clear all world signals
   void ClearWorldSignals() {
diff --git a/source/sgp_mode/SGPWorldSetup.cc b/source/sgp_mode/SGPWorldSetup.cc
index 84e02255..92de8d9b 100644
--- a/source/sgp_mode/SGPWorldSetup.cc
+++ b/source/sgp_mode/SGPWorldSetup.cc
@@ -503,6 +503,21 @@ void SGPWorld::SetupSymbionts(long unsigned int* total_syms) {
 void SGPWorld::SetupTaskEnvironment() {
   // TODO - configure any world <--> environment interactions that need to be
   //        setup prior to run
+  const bool env_file_exists = std::filesystem::exists(sgp_config.TASK_ENV_CFG_PATH());
+  if (!env_file_exists) {
+    if(sgp_config["TASK_ENV_CFG_PATH"]->GetDefault() == sgp_config["TASK_ENV_CFG_PATH"]->GetLiteralValue()){
+      std::cout << "Default Task Environment file does not exist: " << sgp_config.TASK_ENV_CFG_PATH() << std::endl;
+      std::cout << "Generating now... "  << std::endl;
+      GenerateDefaultTaskEnvironment();
+      std::cout << "Run ./symbulation_sgp again to use new Task Environment" << std::endl;
+      std::cout << "Exiting.." << std::endl;
+    }
+    else{
+      std::cout << "Environment file does not exist: " << sgp_config.TASK_ENV_CFG_PATH() << std::endl;
+    }
+
+    std::exit(EXIT_FAILURE);
+  }
   task_env.Setup(
     sgp_config.TASK_ENV_CFG_PATH(),
     sgp_config.TASK_IO_BANK_SIZE(),
@@ -599,6 +614,36 @@ void SGPWorld::GenerateDefaultProgram(bool is_host){
   prog_builder.SaveProgramFile(prog_builder.CreateNandProgram(PROGRAM_LENGTH), path);
 }
 
+void SGPWorld::GenerateDefaultTaskEnvironment(){
+  std::string path = sgp_config.TASK_ENV_CFG_PATH();
+
+  std::ofstream envFile(path);
+
+  if (!envFile) {
+      std::cout << "Error: Could not create new environment file" << std::endl;
+      std::exit(EXIT_FAILURE);
+  }
+  
+  envFile << R"({
+  "shared": {
+    "tasks": [
+      {"name": "NAND", "value": 1, "reward_mode": "add"},
+      {"name": "NOT", "value": 1, "reward_mode": "add"},
+      {"name": "OR_NOT", "value": 2, "reward_mode": "add"},
+      {"name": "AND", "value": 2, "reward_mode": "add"},
+      {"name": "OR", "value": 4, "reward_mode": "add"},
+      {"name": "AND_NOT", "value": 4, "reward_mode": "add"},
+      {"name": "NOR", "value": 8, "reward_mode": "add"},
+      {"name": "XOR", "value": 8, "reward_mode": "add"},
+      {"name": "EQU", "value": 16, "reward_mode": "add"}
+    ]
+  }
+})";
+    
+  envFile.close();
+  
+}
+
 }
 
 #endif
\ No newline at end of file
diff --git a/source/sgp_mode/tasks/LogicTaskEnvironment.h b/source/sgp_mode/tasks/LogicTaskEnvironment.h
index d67402ef..8992a617 100644
--- a/source/sgp_mode/tasks/LogicTaskEnvironment.h
+++ b/source/sgp_mode/tasks/LogicTaskEnvironment.h
@@ -181,15 +181,8 @@ void LogicTaskEnvironment::LoadTasks(const std::string& env_filepath) {
   //     Then, tasks can be associated with a particular resource pool.
 
   // === Parse environment file ===
-  // Check if given environment file exists. Exit if not.
-  const bool env_file_exists = std::filesystem::exists(env_filepath);
-  if (!env_file_exists) {
-    std::cout << "Environment file does not exist: " << env_filepath << std::endl;
+  emp_assert(std::filesystem::exists(env_filepath));
 
-    //Check if config is default, then create file of default task(differntial)
-    std::exit(EXIT_FAILURE);
-  }
-  // If environment file exists, read it.
   std::ifstream env_ifstream(env_filepath);
   nlohmann::json env_json;
   env_ifstream >> env_json;
diff --git a/source/test/sgp_mode_test/functional_tests/ProgramBuilder.test.cc b/source/test/sgp_mode_test/functional_tests/ProgramBuilder.test.cc
index 956baf02..92465207 100644
--- a/source/test/sgp_mode_test/functional_tests/ProgramBuilder.test.cc
+++ b/source/test/sgp_mode_test/functional_tests/ProgramBuilder.test.cc
@@ -157,7 +157,7 @@ TEST_CASE("ProgramBuilder generates a programs as advertised", "[sgp]") {
     );
     world.AssignNewEnvIO(hw.GetCPUState());
 
-    // Run organism's hardware for 52 steps
+    // Run organism's hardware for 102 steps
     hw.RunCPUStep(102);
     auto& output_buffer = hw.GetCPUState().GetOutputBuffer();
     CheckTaskProfile(

From cad8cf3511b3d7f54f67368df033fd35aa2bf4a8 Mon Sep 17 00:00:00 2001
From: EliasH-E <hillmane@carleton.edu>
Date: Wed, 12 Aug 2026 14:12:15 -0500
Subject: [PATCH 18/18] added documentation to default generator programs

---
 source/sgp_mode/SGPWorldSetup.cc | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/source/sgp_mode/SGPWorldSetup.cc b/source/sgp_mode/SGPWorldSetup.cc
index 92de8d9b..904be834 100644
--- a/source/sgp_mode/SGPWorldSetup.cc
+++ b/source/sgp_mode/SGPWorldSetup.cc
@@ -602,7 +602,13 @@ void SGPWorld::SetupMutator() {
   //        same with endosymbionts / etc
 }
 
-
+/**
+   * Input: Bool, Whether the missing default program is the host or sym program.
+   *
+   * Output: None.
+   *
+   * Purpose: Creates the default genome and then ends the simulation
+   */
 void SGPWorld::GenerateDefaultProgram(bool is_host){
   std::string path;
   if(is_host){
@@ -614,6 +620,13 @@ void SGPWorld::GenerateDefaultProgram(bool is_host){
   prog_builder.SaveProgramFile(prog_builder.CreateNandProgram(PROGRAM_LENGTH), path);
 }
 
+/**
+   * Input: None
+   *
+   * Output: None
+   *
+   * Purpose: Creates the default task environment and then ends the simulation
+   */
 void SGPWorld::GenerateDefaultTaskEnvironment(){
   std::string path = sgp_config.TASK_ENV_CFG_PATH();