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()