def Generate_Brain(self):
pyrosim.Start_NeuralNetwork("brain" + str(self.myID) + ".nndf")
# pyrosim.Send_Sensor_Neuron(name=0, linkName="Torso")
# pyrosim.Send_Sensor_Neuron(name=1, linkName="BackLeg")
# pyrosim.Send_Sensor_Neuron(name=2, linkName="FrontLeg")
# pyrosim.Send_Motor_Neuron(name=3, jointName="Torso_BackLeg")
# pyrosim.Send_Motor_Neuron(name=4, jointName="Torso_FrontLeg")
pyrosim.Send_Sensor_Neuron(name=0, linkName="FrontLowerLeg")
pyrosim.Send_Sensor_Neuron(name=1, linkName="BackLowerLeg")
pyrosim.Send_Sensor_Neuron(name=2, linkName="LeftLowerLeg")
pyrosim.Send_Sensor_Neuron(name=3, linkName="RightLowerLeg")
pyrosim.Send_Motor_Neuron(name=4, jointName="Torso_BackLeg")
pyrosim.Send_Motor_Neuron(name=5, jointName="Torso_FrontLeg")
pyrosim.Send_Motor_Neuron(name=6, jointName="Torso_LeftLeg")
pyrosim.Send_Motor_Neuron(name=7, jointName="Torso_RightLeg")
pyrosim.Send_Motor_Neuron(name=8, jointName="BackLeg_BackLowerLeg")
pyrosim.Send_Motor_Neuron(name=9, jointName="FrontLeg_FrontLowerLeg")
pyrosim.Send_Motor_Neuron(name=10, jointName="LeftLeg_LeftLowerLeg")
pyrosim.Send_Motor_Neuron(name=11, jointName="RightLeg_RightLowerLeg")
for currentRow in range(c.numSensorNeurons):
for currentColumn in range(c.numMotorNeurons):
pyrosim.Send_Synapse(
sourceNeuronName=currentRow,
targetNeuronName=currentColumn + c.numSensorNeurons,
weight=self.weights[currentRow][currentColumn])
pyrosim.End()
while not os.path.exists("brain" + str(self.myID) + ".nndf"):
time.sleep(0.01)
def generate_brain(self):
pyrosim.Start_NeuralNetwork("brains/brain" + str(self.myID) + ".nndf")
linkNames = pyrosim.Get_Link_Names("body.urdf")
SensorNames = [name for name in linkNames if "Lower" in name]
jointNames = pyrosim.Get_Joint_Names("body.urdf")
self.numSensorNeuron = len(SensorNames)
self.numMotorNeuron = len(jointNames)
NextAvailableName = 0
for link in range(self.numSensorNeuron):
pyrosim.Send_Sensor_Neuron(name=NextAvailableName,
linkName=SensorNames[link])
NextAvailableName += 1
for joint in range(self.numMotorNeuron):
pyrosim.Send_Motor_Neuron(name=NextAvailableName,
jointName=jointNames[joint])
NextAvailableName += 1
for sensor in range(self.numSensorNeuron):
for motor in range(self.numMotorNeuron):
pyrosim.Send_Synapse(sourceNeuronName=sensor,
targetNeuronName=motor +
self.numSensorNeuron,
weight=self.weight[sensor, motor])
pyrosim.End()
def generate_brain():
pyrosim.Start_NeuralNetwork("brain.nndf")
pyrosim.Send_Sensor_Neuron(name=0, linkName="Torso")
pyrosim.Send_Sensor_Neuron(name=2, linkName="LegFront")
pyrosim.Send_Sensor_Neuron(name=1, linkName="LegBack")
pyrosim.Send_Motor_Neuron(name=3, jointName="Torso_Leg_B")
pyrosim.Send_Motor_Neuron(name=4, jointName="Torso_Leg_F")
for sensor in range(3):
for motor in range(2):
pyrosim.Send_Synapse(sourceNeuronName=sensor,
targetNeuronName=motor + 3,
weight=(random.random() - 0.5) * 2)
def Generate_Brain():
pyrosim.Start_NeuralNetwork("brain.nndf")
pyrosim.Send_Sensor_Neuron(name = 0, linkName = "Torso")
pyrosim.Send_Sensor_Neuron(name = 1, linkName = "BackLeg")
pyrosim.Send_Sensor_Neuron(name = 2, linkName = "FrontLeg")
pyrosim.Send_Motor_Neuron(name = 3, jointName = "Torso_BackLeg")
pyrosim.Send_Motor_Neuron(name = 4, jointName = "Torso_FrontLeg")
# pyrosim.Send_Synapse( sourceNeuronName=0, targetNeuronName=3, weight=-1.0 )
# pyrosim.Send_Synapse( sourceNeuronName=1, targetNeuronName=3, weight=-1.0 )
# pyrosim.Send_Synapse( sourceNeuronName=0, targetNeuronName=4, weight=-1.0 )
# pyrosim.Send_Synapse( sourceNeuronName=2, targetNeuronName=4, weight=-1.0 )
for i in {0, 1, 2}:
for j in {3, 4}:
pyrosim.Send_Synapse( sourceNeuronName=i, targetNeuronName=j, weight=random.uniform(-1, 1) )
pyrosim.End()
def Generate_Brain():
pyrosim.Start_NeuralNetwork("brain.nndf")
pyrosim.Send_Sensor_Neuron(name=0, linkName="Torso")
pyrosim.Send_Sensor_Neuron(name=1, linkName="BackLeg")
pyrosim.Send_Sensor_Neuron(name=2, linkName="FrontLeg")
pyrosim.Send_Motor_Neuron(name=3, jointName="Torso_BackLeg")
pyrosim.Send_Motor_Neuron(name=4, jointName="Torso_FrontLeg")
# Synapses
# pyrosim.Send_Synapse(sourceNeuronName=0, targetNeuronName=3, weight=-0.5)
# pyrosim.Send_Synapse(sourceNeuronName=1, targetNeuronName=3, weight=-1.0)
# pyrosim.Send_Synapse(sourceNeuronName=0, targetNeuronName=4, weight=-1.0)
# pyrosim.Send_Synapse(sourceNeuronName=2, targetNeuronName=4, weight=-0.5)
# pyrosim.End()
# random research
for sensor_neurons in range(0, 3): # iterate over the names of the three sensor neurons.
for motor_neurons in range(4, 5): # iterate over each of the two motor neurons
pyrosim.Send_Synapse(sourceNeuronName=sensor_neurons, targetNeuronName=motor_neurons,
weight=random.randrange(-1, 1))
pyrosim.End()