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abr / abr_control

Robotic arm control in Python
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Osc adaptation fixup #7

Closed studywolf closed 8 years ago

studywolf commented 8 years ago

depends on the reach_fixup branch

this is a some tweaking etc done to improve the dynamics adaptation with osc control

studywolf commented 8 years ago

Cerebellum and primary motor cortex!

On Sep 30, 2016 2:04 PM, "p3jawors" notifications@github.com wrote:

@p3jawors commented on this pull request.

In abr_control/arms/ur5/neural_config.py https://github.com/abr/control/pull/7#pullrequestreview-2373899:

@@ -12,61 +13,81 @@ def init(self):

     super(robot_config, self).__init__()
  • n_neurons = 3000
  • import itertools

  • generate diagonal encoders for CB

  • CB_encoder_set = [[-1, 1]] * (self.num_joints * 2)
  • CB_encoders = list(itertools.product(*CB_encoder_set))

  • generate diagonal encoders for M1

  • M1_encoder_set = [[-1, 1]] * (self.num_joints + 3)
  • M1_encoders = list(itertools.product(*M1_encoder_set)) + self.CB = {

What are CB and M1?

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/abr/control/pull/7#pullrequestreview-2373899, or mute the thread https://github.com/notifications/unsubscribe-auth/ACW8iTdc7rB3OkECrQkPyYzghANd1MY2ks5qvU8QgaJpZM4KJE7W .

p3jawors commented 8 years ago

My mistake, I didn't put it all in one report so the first message squeaked by haha.

Thanks!

On Fri, Sep 30, 2016 at 2:07 PM, Travis DeWolf notifications@github.com wrote:

Cerebellum and primary motor cortex!

On Sep 30, 2016 2:04 PM, "p3jawors" notifications@github.com wrote:

@p3jawors commented on this pull request.

In abr_control/arms/ur5/neural_config.py https://github.com/abr/control/pull/7#pullrequestreview-2373899:

@@ -12,61 +13,81 @@ def init(self):

super(robot_config, self).init()

  • n_neurons = 3000
  • import itertools

  • generate diagonal encoders for CB

  • CB_encoder_set = [[-1, 1]] * (self.num_joints * 2)
  • CB_encoders = list(itertools.product(*CB_encoder_set))

  • generate diagonal encoders for M1

  • M1_encoder_set = [[-1, 1]] * (self.num_joints + 3)
  • M1_encoders = list(itertools.product(*M1_encoder_set)) + self.CB = {

What are CB and M1?

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/abr/control/pull/7#pullrequestreview-2373899, or mute the thread https://github.com/notifications/unsubscribe-auth/ ACW8iTdc7rB3OkECrQkPyYzghANd1MY2ks5qvU8QgaJpZM4KJE7W .

— You are receiving this because you were assigned. Reply to this email directly, view it on GitHub https://github.com/abr/control/pull/7#issuecomment-250813011, or mute the thread https://github.com/notifications/unsubscribe-auth/ANkE_-yZpRUm6FbZszZhHDJfwq1BHEZHks5qvU_2gaJpZM4KJE7W .

p3jawors commented 8 years ago

LGTM

p3jawors commented 8 years ago

Got merged, but not marked as merged