This plug-in module contains nodes that let you to interface the neural network to the virtual body and world.
They work similar to the offpage connectors. You must first have an existing part in the body of the
biomechanical organism. Once you do
then you can add one of these nodes to your diagram and then select the Body or Joint ID property. This will provide a list
of all the parts in the body that can be used. That node then "stands-in" for
the part in the body. You can draw input and output connections from that node to neurons. When you do an adapter will be
added between the two to convert signals to allow the two parts to communicate.
For example, if you wanted to know the rotation angle of a joint then the joint needs to already exist in the body definition.
Then add a joint node to the diagram and draw a connection from it to a neuron. In the properties for the joint node go to the Joint ID
and select the joint you are interested in using the drop-down list. Then configure the adapter so that it translates joint rotation in
radians or meters into a current to inject into your neuron. Once this is done your current will flow in your neuron proportional to
the rotation angle and this can be used throughout your neural network to know the state of the joint.
The following pages provide more details about the parts in this plug-in.
This project was supported by: