lachesis package#

Submodules#

lachesis.controller module#

class lachesis.controller.RobotController(robot_id: int)#

Bases: object

get_robot_joints() → dict[str, int]#
update_joint_motors(control_mode: int, target_positions: dict[str, float] | None = None, target_velocities: dict[str, float] | None = None, forces: list[float] | float | None = None, position_gains: list[float] | None = None, velocity_gains: list[float] | None = None, physics_client: int | None = None) → None#

lachesis.neuralnet module#

class lachesis.neuralnet.NeuralNetwork(file_path: str, activation_function: str = 'relu')#

Bases: object

feed_forward(inputs: dict[str, float]) → None#
feed_forward_raw(inputs: ndarray) → None#
get_joint_targets() → dict[str, float]#
get_motor_neurons() → dict[int, str]#
get_network_output() → ndarray#
get_sensor_collisions(robot_controller: RobotController) → dict[str, int]#
get_sensor_neurons() → dict[str, int]#
static interpret_ennf_file(file_path: str) → tuple#
static linear(X: ndarray) → ndarray#
static relu(X: ndarray) → ndarray#
static sigmoid(X: ndarray) → ndarray#
update_motor_neurons(new_motor_neurons: dict[int, str]) → None#
update_sensor_neurons(new_sensor_neurons: dict[str, int]) → None#

Module contents#