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Copyright (C) 2016 Travis DeWolf
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <>.
import control
import numpy as np
from hessianfree.rnnet import RNNet
from hessianfree.nonlinearities import (Tanh, Linear)
class Control(control.Control):
A controller that loads in a neural network trained using the
hessianfree ( library
to control a simulated arm.
def __init__(self, **kwargs):
super(Control, self).__init__(**kwargs)
self.old_target = [None, None]
# load up our network
import glob
# this code goes into the weights folder, finds the most
# recent trial, and loads up the weights
files = sorted(glob.glob('controllers/weights/rnn*'))
print 'loading weights from %s'%files[-1]
W = np.load(files[-1])['arr_0']
num_states = 4
self.rnn = RNNet(shape=[num_states * 2, 32, 32, num_states, num_states],
layers=[Linear(), Tanh(), Tanh(), Linear(), Linear()],
conns={0:[1, 2], 1:[2], 2:[3], 3:[4]},
offset, W_end, b_end = self.rnn.offsets[(3,4)]
self.rnn.mask = np.zeros(self.rnn.W.shape, dtype=bool)
self.rnn.mask[offset:b_end] = True
self.rnn.W[offset:W_end] = np.eye(4).flatten()
self.joint_targets = None
self.act = None
# set up recorders
if self.write_to_file is True:
from recorder import Recorder
self.u_recorder = Recorder('control signal', self.task, 'hf')
self.xy_recorder = Recorder('end-effector position', self.task, 'hf')
self.dist_recorder = Recorder('distance from target', self.task, 'hf')
self.recorders = [self.u_recorder,
def control(self, arm, x_des=None):
"""Generates a control signal to move the
arm to the specified target.
arm Arm: the arm model being controlled
des list: the desired system position
x_des np.array: desired task-space force,
system goes to if None
self.x = arm.x
# if the target has changed, convert into joint angles again
if np.any(self.old_target !=
self.joint_targets = arm.inv_kinematics(
self.old_target =
inputs = np.concatenate([self.joint_targets, np.zeros(2), arm.q, arm.dq])[None,None,:]
self.act = [a[:,-1,:] for a in self.rnn.forward(inputs, init_activations=self.act)]
u = self.act[-1][0]
# NOTE: Make sure this is set up the same way as in training
# use all the network output is the control signal
self.u = np.array([np.sum(u[ii::arm.DOF]) for ii in range(arm.DOF)])
if self.write_to_file is True:
# feed recorders their signals
self.u_recorder.record(0.0, self.u)
self.xy_recorder.record(0.0, self.x)
self.dist_recorder.record(0.0, - self.x)
# add in any additional signals
for addition in self.additions:
self.u += addition.generate(self.u, arm)
return self.u
def gen_target(self, arm):