# storage old noise and compute new noise
bg.prvNoise = bg.actNoise.copy()
bg.actNoise = utils.computate_noise(bg.prvNoise, bg.delT,
bg.tau) * T
#♠ bg.actual_noise = utils.Cut_range(bg.actNoise, -0.5 , 0.5)
# compute 3D EPs
bg.ep3D = utils.Cut_range(bg.actOut + bg.actNoise, 0., 1.)
if movement > 0:
wrist.saveMov3d()
# compute 3d movement
wrist.actual_3dposition = wrist.move3d(bg.ep3D)
# conversion to 2d movement
wrist.delta_2dposition = utils.conversion2d(
utils.change_range(wrist.actual_3dposition, 0, 1, -1, 1))
# compute 2d final position
wrist.next_2dposition[
0] = wrist.actual_2dposition[0] - wrist.delta_2dposition[0]
wrist.next_2dposition[
1] = wrist.actual_2dposition[1] + wrist.delta_2dposition[1]
# maze.verifyOutside(wrist.next_2dposition)
wrist.next_2dposition = maze.imposeLBounds(wrist.actual_2dposition,
wrist.next_2dposition)
wrist.next_2dposition = maze.imposeHbounds(wrist.actual_2dposition,
wrist.next_2dposition)
# wrist.next_2dposition = utils.Cut_range(wrist.next_2dposition, 0., 10)
wrist.actual_2dposition = wrist.next_2dposition.copy()
bg.desOutBuff[:, step] = wrist.prvEp.copy()
bg.stateBuff[:, step] = bg.prvState.copy()
if INTRALAMINAR_NUCLEI == True:
bg.prvTrainOut = bg.trainOut.copy()
cb.prvOut = cb.currOut.copy()
if step > (ACTOR_CEREBELLUM_RATIO - 1):
if step % ACTOR_CEREBELLUM_RATIO == 1:
bg.prvNoise = bg.currNoise.copy()
wrist.move3d()
# wrist.curr3DPos = np.array([0.5,1.,0.5])
maze.curr2DPos = utils.conversion2d(
utils.change_range(wrist.curr3DPos, 0, 1, -1, 1),
perturbation, pertMag)
maze.posBuff[:, step] = maze.curr2DPos.copy()
wrist.posBuff[:, step] = wrist.curr3DPos.copy()
if epoch > startPlotting:
text2.set_text("step = %s" % (step + 1))
agent.set_data(maze.curr2DPos[0], maze.curr2DPos[1])
agentCircle.remove()
agentCircle = plt.Circle(
(maze.curr2DPos[0], maze.curr2DPos[1]),
0.15,
color='blue')
ax1.add_artist(agentCircle)
X = [0.5, 0.5, wrist.curr3DPos[0]]
bg.prvCritOut = bg.currCritOut.copy()
bg.prvActOut = bg.currActOut.copy()
bg.prvNoise = bg.currNoise.copy()
if SL == True:
if cerebellum == True:
bg.desOutBuff[:, step] = wrist.prvEp.copy()
bg.stateBuff[:, step] = bg.prvState.copy()
wrist.saveMov3d()
wrist.move3d()
# compute 2d final position
maze.delta2DPos = (utils.conversion2d(
utils.change_range(
wrist.curr3DPos, 0, 1, -1,
1))).copy() * calibration # conversion to 2d step
maze.next2DPos[0] = (maze.curr2DPos[0] -
maze.delta2DPos[0]).copy()
maze.next2DPos[1] = (maze.curr2DPos[1] +
maze.delta2DPos[1]).copy()
maze.imposeOutBounds()
maze.imposeInBounds()
maze.curr2DPos = maze.next2DPos.copy()
if epoch > startPlotting:
text2.set_text("step = %s" % (step + 1))
agent.set_data(maze.curr2DPos[0], maze.curr2DPos[1])
X = [0.5, 0.5, wrist.curr3DPos[0].copy()]
Y = [0.0, 0.5, wrist.curr3DPos[1].copy()]
Z = [0.5, 0.5, wrist.curr3DPos[2].copy()