├── .gitignore ├── LICENCE.md ├── README.md ├── assets └── frames.png ├── pom.xml └── src ├── main ├── java │ ├── META-INF │ │ └── MANIFEST.MF │ └── it │ │ └── units │ │ └── erallab │ │ └── hmsrobots │ │ ├── Example.java │ │ ├── Starter.java │ │ ├── behavior │ │ ├── BehaviorUtils.java │ │ ├── Footprint.java │ │ ├── Gait.java │ │ └── PoseUtils.java │ │ ├── core │ │ ├── Actionable.java │ │ ├── controllers │ │ │ ├── AbstractController.java │ │ │ ├── CentralizedSensing.java │ │ │ ├── Controller.java │ │ │ ├── DistributedSensing.java │ │ │ ├── DistributedSensingNonDirectional.java │ │ │ ├── MultiLayerPerceptron.java │ │ │ ├── PhaseSin.java │ │ │ ├── PosesController.java │ │ │ ├── PruningMultiLayerPerceptron.java │ │ │ ├── RealFunction.java │ │ │ ├── Resettable.java │ │ │ ├── SelfAttention.java │ │ │ ├── SelfOrganizing.java │ │ │ ├── SmoothedController.java │ │ │ ├── StepController.java │ │ │ ├── TimeFunctions.java │ │ │ └── TimedRealFunction.java │ │ ├── geometry │ │ │ ├── BoundingBox.java │ │ │ ├── Point2.java │ │ │ ├── Poly.java │ │ │ ├── Shape.java │ │ │ └── Vector.java │ │ ├── objects │ │ │ ├── Box.java │ │ │ ├── BreakableVoxel.java │ │ │ ├── Ground.java │ │ │ ├── RigidBody.java │ │ │ ├── Robot.java │ │ │ ├── Swing.java │ │ │ ├── Voxel.java │ │ │ └── WorldObject.java │ │ ├── sensors │ │ │ ├── AbstractSensor.java │ │ │ ├── AggregatorSensor.java │ │ │ ├── Angle.java │ │ │ ├── AppliedForce.java │ │ │ ├── AreaRatio.java │ │ │ ├── Average.java │ │ │ ├── CompositeSensor.java │ │ │ ├── Constant.java │ │ │ ├── ControlPower.java │ │ │ ├── Crumpling.java │ │ │ ├── DynamicNormalization.java │ │ │ ├── Lidar.java │ │ │ ├── Malfunction.java │ │ │ ├── Noisy.java │ │ │ ├── Normalization.java │ │ │ ├── Sensor.java │ │ │ ├── SoftNormalization.java │ │ │ ├── TimeFunction.java │ │ │ ├── Touch.java │ │ │ ├── Trend.java │ │ │ └── Velocity.java │ │ └── snapshots │ │ │ ├── LidarReadings.java │ │ │ ├── MLPState.java │ │ │ ├── RobotShape.java │ │ │ ├── ScopedReadings.java │ │ │ ├── Snapshot.java │ │ │ ├── SnapshotListener.java │ │ │ ├── Snapshottable.java │ │ │ ├── StackedScopedReadings.java │ │ │ └── VoxelPoly.java │ │ ├── tasks │ │ ├── AbstractTask.java │ │ ├── FinalPosture.java │ │ ├── Task.java │ │ ├── balancing │ │ │ ├── BalanceOutcome.java │ │ │ └── Balancing.java │ │ ├── devolocomotion │ │ │ ├── DevoLocomotion.java │ │ │ ├── DevoOutcome.java │ │ │ ├── DistanceBasedDevoLocomotion.java │ │ │ └── TimeBasedDevoLocomotion.java │ │ └── locomotion │ │ │ ├── Locomotion.java │ │ │ └── Outcome.java │ │ ├── util │ │ ├── DoubleRange.java │ │ ├── Grid.java │ │ ├── Parametrized.java │ │ ├── RobotUtils.java │ │ ├── SerializableFunction.java │ │ ├── SerializationUtils.java │ │ └── Utils.java │ │ └── viewers │ │ ├── AllRobotFollower.java │ │ ├── DrawingUtils.java │ │ ├── Framer.java │ │ ├── FramesImageBuilder.java │ │ ├── GridEpisodeRunner.java │ │ ├── GridFileWriter.java │ │ ├── GridOnlineViewer.java │ │ ├── GridSnapshotListener.java │ │ ├── NamedValue.java │ │ ├── VideoUtils.java │ │ └── drawers │ │ ├── BoundingBoxDrawer.java │ │ ├── DistributedDrawer.java │ │ ├── Drawer.java │ │ ├── Drawers.java │ │ ├── FootprintDrawer.java │ │ ├── InfoDrawer.java │ │ ├── LidarDrawer.java │ │ ├── MLPDrawer.java │ │ ├── MemoryDrawer.java │ │ ├── PolyDrawer.java │ │ ├── PostureDrawer.java │ │ ├── SensorReadingsSectorDrawer.java │ │ ├── SignalDrawer.java │ │ ├── SpectrumDrawer.java │ │ ├── StackedScopedReadingsDrawer.java │ │ ├── SubtreeDrawer.java │ │ ├── TargetDrawer.java │ │ └── VoxelDrawer.java └── resources │ └── logging.properties └── test └── java └── it └── units └── erallab └── hmsrobots ├── core └── controllers │ └── MultiLayerPerceptronTest.java └── util └── UtilsTest.java /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ericmedvet/2dhmsr/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENCE.md: 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