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Organism #2

class sensorimotor_dependencies.organisms.Organism2(seed=1, retina_size=1.0, M_size=40, E_size=40, nb_joints=10, nb_eyes=4, nb_lights=5, extero=20, proprio=4, nb_generating_motor_commands=100, nb_generating_env_positions=50, neighborhood_size=1e-08, sigma=<ufunc 'tanh'>)

Organism 2 (inherits from Organism1):

This time, to spice things up: we introduce nonspatial body changes thanks to pupil reflex, and nonspatial changes in the environment via varying light intensities.

The default values that have changed compared to Organism 1 are the following ones:

1. The arm has

• \(10\) joints

• \(4\) eyes, each of which as a diaphragm \(d_i\) reducing the light input so that the total illumination of the eye remains constant (equal to 1). That is, for eye \(i\):

  $$\sum\limits_{ k } S_{i, k}^e = 1$$

  i.e.:

  $$d_i ≝ \sum\limits_{ k } \left(\sum\limits_{ j}\frac{θ_j}{\Vert P_i + Rot(a_i^θ, a_i^φ, a_i^ψ) \cdot C_{i,k}-L_j\Vert^2}\right)^{-1}$$

2. the motor command is \(100\)-dimensional
3. the environment consists of:

• \(5\) lights, of varying intensities

Parameter	Value
Dimension of motor commands	M_size
Dimension of environmental control vector	E_size
Number of eyes	nb_eyes
Number of joints	nb_joints
Dimension of proprioceptive inputs	proprio*nb_joints
Dimension of exteroceptive inputs	extero*nb_eyes
Diaphragms	Reflex
Number of lights	nb_lights
Light luminance	Variable

get_sensory_inputs(M, E, d=None)

Compute sensory inputs for motor command M and environment position E.

The diaphragms \(d_i\) is now satisfy:

$$\sum\limits_{ k } S_{i, k}^e = 1$$

that is:

$$d_i ≝ \sum\limits_{ k } \left(\sum\limits_{ j}\frac{θ_j}{\Vert P_i + Rot(a_i^θ, a_i^φ, a_i^ψ) \cdot C_{i,k}-L_j\Vert^2}\right)^{-1}$$

to keep the total illumination of the eye remains constant equal to \(1\) (same as notations as Organism 1).

Parameters:

• M ((M_size,) array) – Motor command vector
• E ((E_size,) array) – Environmental control vector

Returns:

Concatenation of proprioceptive and exteroceptive sensory inputs

Return type:

(proprio*nb_joints + extero*nb_eyes,) array

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Organism #3