def __init__(self, motion, memory, sonar, posture):
         self.motionProxy = motion
         self.memoryProxy = memory
         self.sonarProxy = sonar
         self.postureProxy = posture
         self.useSensors    = True
         self.inputLength = 26+18
         self.outputLength = 26
         self.sonarProxy.subscribe("Closed-Loop Motor Babbling") #Start the sonor
         self.set_stiffness(0.3)
         self.net = buildNetwork(INPUTSIZE,HIDDENSIZE,OUTPUTSIZE)

         #Hierarchical Control Networks 
         self.netH1 = buildNetwork(INPUTSIZE,HIDDENSIZE,OUTPUTSIZE)
         self.netH2 = buildNetwork(INPUTSIZE,HIDDENSIZE,OUTPUTSIZE)
         self.sMemory1 = np.array([1]*(INPUTSIZE + PREDICTSIZE))
         self.sMemory2 = np.array([1]*(INPUTSIZE + PREDICTSIZE))
         self.mMemory1 = np.array([0]*OUTPUTSIZE)
         self.mMemory2 = np.array([0]*OUTPUTSIZE)
         

         # Access global joint limits.
         self.Body = motion.getLimits("Body")
         self.bangles =  [1] * 26
         self.othersens = [2] * 18
         self.sMemory = np.array([1]*(INPUTSIZE + PREDICTSIZE))
         self.mMemory = np.array([0]*OUTPUTSIZE)
         self.cl = curiosityLoop()

         self.rand = Random()
         self.rand.seed(int(time()))

         #Initialize a model dictionary
         self.models = dict()
    def __init__(self, motion, memory, sonar, posture):
        self.motionProxy = motion
        self.memoryProxy = memory
        self.sonarProxy = sonar
        self.postureProxy = posture
        self.useSensors = True
        self.inputLength = 26 + 18
        self.outputLength = 26
        self.sonarProxy.subscribe(
            "Closed-Loop Motor Babbling")  #Start the sonor
        self.set_stiffness(0.3)
        self.net = buildNetwork(INPUTSIZE, HIDDENSIZE, OUTPUTSIZE)

        #Hierarchical Control Networks
        self.netH1 = buildNetwork(INPUTSIZE, HIDDENSIZE, OUTPUTSIZE)
        self.netH2 = buildNetwork(INPUTSIZE, HIDDENSIZE, OUTPUTSIZE)
        self.sMemory1 = np.array([1] * (INPUTSIZE + PREDICTSIZE))
        self.sMemory2 = np.array([1] * (INPUTSIZE + PREDICTSIZE))
        self.mMemory1 = np.array([0] * OUTPUTSIZE)
        self.mMemory2 = np.array([0] * OUTPUTSIZE)

        # Access global joint limits.
        self.Body = motion.getLimits("Body")
        self.bangles = [1] * 26
        self.othersens = [2] * 18
        self.sMemory = np.array([1] * (INPUTSIZE + PREDICTSIZE))
        self.mMemory = np.array([0] * OUTPUTSIZE)
        self.cl = curiosityLoop()

        self.rand = Random()
        self.rand.seed(int(time()))

        #Initialize a model dictionary
        self.models = dict()
     def __init__(self, motion, memory, sonar, posture):
         self.motionProxy = motion
         self.memoryProxy = memory
         self.sonarProxy = sonar
         self.postureProxy = posture
         self.useSensors    = True
         self.inputLength = 26+18
         self.outputLength = 26
         self.sonarProxy.subscribe("Closed-Loop Motor Babbling") #Start the sonor
         self.set_stiffness(0.1)
         self.net = buildNetwork(INPUTSIZE,HIDDENSIZE,OUTPUTSIZE)

         # Access global joint limits.
         self.Body = motion.getLimits("Body")
         self.bangles =  [1] * 26
         self.othersens = [2] * 18
         self.sMemory = np.array([1]*(INPUTSIZE + PREDICTSIZE))
         self.mMemory = np.array([0]*OUTPUTSIZE)
         self.cl = curiosityLoop()
     def __init__(self, motion, memory, sonar, posture):
         self.motionProxy = motion
         self.memoryProxy = memory
         self.sonarProxy = sonar
         self.postureProxy = posture
         self.useSensors    = True
         self.inputLength = 26+18
         self.outputLength = 26
         self.sonarProxy.subscribe("Closed-Loop Motor Babbling") #Start the sonor
         self.set_stiffness(0.1)
         self.net = buildNetwork(INPUTSIZE,HIDDENSIZE,OUTPUTSIZE)

         # Access global joint limits.
         self.Body = motion.getLimits("Body")
         self.bangles =  [1] * 26
         self.othersens = [2] * 18
         self.sMemory = np.array([1]*(INPUTSIZE + PREDICTSIZE))
         self.mMemory = np.array([0]*OUTPUTSIZE)
         self.cl = curiosityLoop()