Skip to content

Commit

Permalink
9
Browse files Browse the repository at this point in the history
  • Loading branch information
@BlueSocksFFF
BlueSocksFFF committed Mar 15, 2023
1 parent 468735f commit 562621d
Show file tree
Hide file tree
Showing 3 changed files with 302 additions and 0 deletions.
46 changes: 46 additions & 0 deletions 9.nndf
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,46 @@
<neuralNetwork>
<neuron name = "0" type = "sensor" linkName = "Link1" />
<neuron name = "1" type = "sensor" linkName = "Link3" />
<neuron name = "2" type = "sensor" linkName = "Link7" />
<neuron name = "3" type = "sensor" linkName = "Link8" />
<neuron name = "4" type = "motor" jointName = "Start_Link1" />
<neuron name = "5" type = "motor" jointName = "Link1_Link2" />
<neuron name = "6" type = "motor" jointName = "Start_Link3" />
<neuron name = "7" type = "motor" jointName = "Start_Link4" />
<neuron name = "8" type = "motor" jointName = "Link1_Link5" />
<neuron name = "9" type = "motor" jointName = "Link3_Link6" />
<neuron name = "10" type = "motor" jointName = "Start_Link7" />
<neuron name = "11" type = "motor" jointName = "Start_Link8" />
<synapse sourceNeuronName = "1" targetNeuronName = "4" weight = "-0.7561272719325365" />
<synapse sourceNeuronName = "1" targetNeuronName = "5" weight = "0.785523311999885" />
<synapse sourceNeuronName = "1" targetNeuronName = "6" weight = "-0.26960037416249993" />
<synapse sourceNeuronName = "1" targetNeuronName = "7" weight = "0.3626562734048473" />
<synapse sourceNeuronName = "1" targetNeuronName = "8" weight = "-0.43482178812413164" />
<synapse sourceNeuronName = "1" targetNeuronName = "9" weight = "0.7409826421158761" />
<synapse sourceNeuronName = "1" targetNeuronName = "10" weight = "-0.8427975910351795" />
<synapse sourceNeuronName = "1" targetNeuronName = "11" weight = "0.12685468985360226" />
<synapse sourceNeuronName = "2" targetNeuronName = "4" weight = "-0.02238468162699414" />
<synapse sourceNeuronName = "2" targetNeuronName = "5" weight = "0.6814940274491892" />
<synapse sourceNeuronName = "2" targetNeuronName = "6" weight = "-0.33411404417390145" />
<synapse sourceNeuronName = "2" targetNeuronName = "7" weight = "0.8834709004612227" />
<synapse sourceNeuronName = "2" targetNeuronName = "8" weight = "-0.6077102063829019" />
<synapse sourceNeuronName = "2" targetNeuronName = "9" weight = "0.14322388004568642" />
<synapse sourceNeuronName = "2" targetNeuronName = "10" weight = "-0.7414358818152662" />
<synapse sourceNeuronName = "2" targetNeuronName = "11" weight = "0.012624828722535897" />
<synapse sourceNeuronName = "3" targetNeuronName = "4" weight = "-0.04558821519567613" />
<synapse sourceNeuronName = "3" targetNeuronName = "5" weight = "-0.43058529340943497" />
<synapse sourceNeuronName = "3" targetNeuronName = "6" weight = "-0.9074083721860242" />
<synapse sourceNeuronName = "3" targetNeuronName = "7" weight = "-0.42767301843853334" />
<synapse sourceNeuronName = "3" targetNeuronName = "8" weight = "0.4866769999349796" />
<synapse sourceNeuronName = "3" targetNeuronName = "9" weight = "0.30606402454716886" />
<synapse sourceNeuronName = "3" targetNeuronName = "10" weight = "-0.35864754796317566" />
<synapse sourceNeuronName = "3" targetNeuronName = "11" weight = "-0.7740149827405227" />
<synapse sourceNeuronName = "4" targetNeuronName = "4" weight = "-0.08127991678746338" />
<synapse sourceNeuronName = "4" targetNeuronName = "5" weight = "-0.6581603312202091" />
<synapse sourceNeuronName = "4" targetNeuronName = "6" weight = "0.5724247523779158" />
<synapse sourceNeuronName = "4" targetNeuronName = "7" weight = "-0.5356542607336148" />
<synapse sourceNeuronName = "4" targetNeuronName = "8" weight = "-0.9895939782075567" />
<synapse sourceNeuronName = "4" targetNeuronName = "9" weight = "0.6158917454951567" />
<synapse sourceNeuronName = "4" targetNeuronName = "10" weight = "0.20240966346805211" />
<synapse sourceNeuronName = "4" targetNeuronName = "11" weight = "0.34364121205432796" />
</neuralNetwork>
256 changes: 256 additions & 0 deletions 9.urdf
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,256 @@
<robot name = "robot">
<link name="Start">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.337404895049748 1 0.42681165975634444" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.337404895049748 1 0.42681165975634444" />
</geometry>
</collision>
</link>
<link name="Link1">
<inertial>
<origin xyz="0 0.6479995135044435 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0.6479995135044435 0" rpy="0 0 0"/>
<geometry>
<box size="0.6037266583551046 1.5918928267592052 1.9249866342109452" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0.6479995135044435 0" rpy="0 0 0"/>
<geometry>
<box size="0.6037266583551046 1.5918928267592052 1.9249866342109452" />
</geometry>
</collision>
</link>
<link name="Link2">
<inertial>
<origin xyz="0 0 -0.2343740297156182" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 -0.2343740297156182" rpy="0 0 0"/>
<geometry>
<box size="1.6078832534339729 1.2914854745088358 0.4687480594312364" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.2343740297156182" rpy="0 0 0"/>
<geometry>
<box size="1.6078832534339729 1.2914854745088358 0.4687480594312364" />
</geometry>
</collision>
</link>
<link name="Link3">
<inertial>
<origin xyz="-0.9981678436012145 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="-0.9981678436012145 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.996335687202429 0.8544314875716228 0.6573658782309817" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.9981678436012145 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.996335687202429 0.8544314875716228 0.6573658782309817" />
</geometry>
</collision>
</link>
<link name="Link4">
<inertial>
<origin xyz="0 0 0.429352172174299" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0.429352172174299" rpy="0 0 0"/>
<geometry>
<box size="1.3000294052723085 0.9108178974895629 0.858704344348598" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.429352172174299" rpy="0 0 0"/>
<geometry>
<box size="1.3000294052723085 0.9108178974895629 0.858704344348598" />
</geometry>
</collision>
</link>
<link name="Link5">
<inertial>
<origin xyz="0 0 0.42901155580706896" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0.42901155580706896" rpy="0 0 0"/>
<geometry>
<box size="0.39793864157248215 1.787075353052107 0.8580231116141379" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.42901155580706896" rpy="0 0 0"/>
<geometry>
<box size="0.39793864157248215 1.787075353052107 0.8580231116141379" />
</geometry>
</collision>
</link>
<link name="Link6">
<inertial>
<origin xyz="0 0 -0.7711293780545141" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 -0.7711293780545141" rpy="0 0 0"/>
<geometry>
<box size="0.5577899185935331 1.5091888772633393 1.5422587561090282" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.7711293780545141" rpy="0 0 0"/>
<geometry>
<box size="0.5577899185935331 1.5091888772633393 1.5422587561090282" />
</geometry>
</collision>
</link>
<link name="Link7">
<inertial>
<origin xyz="0.4164242279067093 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0.4164242279067093 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.187851739774407 1.388944850315126 1.0304071263085561" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.4164242279067093 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.187851739774407 1.388944850315126 1.0304071263085561" />
</geometry>
</collision>
</link>
<link name="Link8">
<inertial>
<origin xyz="0 -0.6413268532914289 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 -0.6413268532914289 0" rpy="0 0 0"/>
<geometry>
<box size="0.6348391631519934 1.2826537065828578 1.786631584904347" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.6413268532914289 0" rpy="0 0 0"/>
<geometry>
<box size="0.6348391631519934 1.2826537065828578 1.786631584904347" />
</geometry>
</collision>
</link>
<joint name="Start_Link1" type="revolute">
<parent link="Start"/>
<child link="Link1"/>
<origin rpy="0 0 0" xyz="0 0.5 0" />
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link1_Link2" type="revolute">
<parent link="Link1"/>
<child link="Link2"/>
<origin rpy="0 0 0" xyz="0 0.6479995135044435 -0.9624933171054726" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Start_Link3" type="revolute">
<parent link="Start"/>
<child link="Link3"/>
<origin rpy="0 0 0" xyz="-0.5 0 0" />
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Start_Link4" type="revolute">
<parent link="Start"/>
<child link="Link4"/>
<origin rpy="0 0 0" xyz="0 0 0.5" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link1_Link5" type="revolute">
<parent link="Link1"/>
<child link="Link5"/>
<origin rpy="0 0 0" xyz="0 0.6479995135044435 0.9624933171054726" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link3_Link6" type="revolute">
<parent link="Link3"/>
<child link="Link6"/>
<origin rpy="0 0 0" xyz="-0.9981678436012145 0 -0.734921436474702" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Start_Link7" type="revolute">
<parent link="Start"/>
<child link="Link7"/>
<origin rpy="0 0 0" xyz="0.5 0 0" />
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Start_Link8" type="revolute">
<parent link="Start"/>
<child link="Link8"/>
<origin rpy="0 0 0" xyz="0 -0.5 0" />
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
</robot>
Binary file added population9.png
View file
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.

0 comments on commit 562621d

Please sign in to comment.