# # file: parms.pl # # Network wiring specific parameters. # # # # Copyright (C) 1995 Andrew H. Fagg (af0a@robotics.usc.edu) # # 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 2 # of the License, or 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 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # 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, write to the Free Software # Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. # # # Filtering $CONNECTION_MIN = 0.001; #0.05; # AIP $AIP_SELF_RECURRENT_GAIN = 0; #0.5; #0.75; #1; $AIP_SELF_RECURRENT_MOD = 0.6; $AIP_THRESHOLD_GAIN = 0.2; $AIP_NORMALIZE_W = -1; # AIP->AIP $AIP_AIP_SUPPORT_PROB = 0.1; #0.35; #0.5; $AIP_AIP_GG_SUPPORT_GAIN = 0.2; #0.1; #0.25; #0.5; #1; $AIP_AIP_GG_SUPPORT_MOD = 0.3; $AIP_AIP_GS_SUPPORT_GAIN = 0.5; $AIP_AIP_GS_SUPPORT_MOD = 0.3; $AIP_AIP_SG_SUPPORT_GAIN = 1; $AIP_AIP_SG_SUPPORT_MOD = 0.3; $AIP_AIP_SIZE_MATCH_STD = 2.5; #10; #5; $AIP_AIP_SS_SUPPORT_GAIN = 1; $AIP_AIP_SS_SUPPORT_MOD = 0.3; # F5 $F5_SELF_RECURRENT_GAIN = 1.5; #2; $F5_SELF_RECURRENT_MOD = 0.6; $F5_THRESHOLD_GAIN = 0.2; $F5_NORMALIZE_W = -1; # AIP->F5 $AIP_F5_PROB = 0.25; $AIP_F5_GEN_MOD = 0.2; #0.4; #0.2; $AIP_F5_GEN_GAIN = 1; #0.4; #0.25; #0.4; # $AIP_F5_SPECIFIC_MOD = 0.2; #0.4; #0.2; $AIP_F5_SPECIFIC_GAIN =1; #0.4; #0.25; #0.4 $AIP_F5_SIZE_MATCH_STD = 2.5; #5; #10; #5; # F5->AIP $F5_AIP_PROB = 0.2; #0.1; #0.25; $F5_AIP_GEN_MOD = 0.2; $F5_AIP_GEN_GAIN = 0.75; $F5_AIP_SPECIFIC_MOD = 0.2; $F5_AIP_SPECIFIC_GAIN = 0.75; $F5_AIP_SIZE_MATCH_STD = 2.5; #5; #10; #5; # F5->F5 $F5_F5_REVERSE_INHIBITION_PROB = 0.5; $F5_F5_REVERSE_INHIBITION_GAIN = 1; $F5_F5_REVERSE_INHIBITION_MOD = 0.3; $F5_F5_GG_MUTUAL_PROB = 0.5; $F5_F5_GG_MUTUAL_GAIN = 1; #0.75;#0.35; #0.25; $F5_F5_GG_MUTUAL_MOD = 0.3; $F5_F5_GS_MUTUAL_PROB = 0.5; $F5_F5_GS_MUTUAL_GAIN = 1; #0.75; #0.5; #0.2; #0.75; #0.35; #0.25; $F5_F5_GS_MUTUAL_MOD = 0.3; $F5_F5_SG_MUTUAL_PROB = 0.5; $F5_F5_SG_MUTUAL_GAIN = 1; #0.75; #0.35; #0.25; $F5_F5_SG_MUTUAL_MOD = 0.3; $F5_F5_SS_MUTUAL_PROB = 0.5; $F5_F5_SS_MUTUAL_GAIN = 1; #0.5; #0.4; $F5_F5_SS_MUTUAL_MOD = 0.3; $F5_F5_SS_MUTUAL_STD = 2.5; #5; #10; #5; # PIP->AIP $PIP_AIP_GENERAL_PROB = 0.5; $PIP_AIP_GENERAL_GAIN = 0.5; #0.75; #1.5; $PIP_AIP_GENERAL_MOD = 0; $PIP_AIP_SPECIFIC_PROB = 0.75; $PIP_AIP_SPECIFIC_GAIN = 0.75; #1.5; #0.75; #1.5; $PIP_AIP_SPECIFIC_MOD = 0; # F5->MCX $F5_MCX_PROB = 0.5; $F5_MCX_GAIN = 1; $F5_MCX_FORCE_GAIN = 0.5; $F5_MCX_FORCE_GAIN_MOD = 0.25; # Balance between force and inverse # force during hold phase. $F5_MCX_MIN_RATIO = 0.6; $F5_FINGER_PROB = 0.4; $F5_MCX_J_GAIN = 2; #6; #2; # Jacobian gain # F5 -> SII $F5_SII_PROB = 0.5; $F5_SII_GAIN = 0.3; $F5_SII_MOD = 0.3; # SII -> F5 $SII_F5_PROB = 0.7; $SII_F5_GAIN = 1; $SII_F5_MOD = 0.3; $SII_F5_INVERSE_GAIN = -2; # SI->SII $SI_SII_GAIN = 10; $SI_SII_PAD_ADD_GAIN = 2; $SI_SII_PAD_RELEASE_GAIN = 1.4; #1 # BG_GRASP -> F5 $BGG_F5_SUPPORT_GAIN = 1; $BGG_F5_SUPPORT_MOD = 0.5; # BG_PHASE -> F5 $BGP_F5_FORWARD_GAIN = 2.75; #4; #2; #4; #2.5; #1.5; #1; $BGP_F5_FORWARD_MOD = 0.1; #0.3; $BGP_F5_REVERSE_GAIN = 8; #6; #4; #3; #2; #1.3; $BGP_F5_REVERSE_MOD = 0.3; # F5 -> BG_PHASE $F5_BGP_REVERSE_GAIN = 0.2; $F5_BGP_REVERSE_MOD = 0.5; $F5_BGP_FORWARD_GAIN = 0.2; $F5_BGP_FORWARD_MOD = 0.5; # F2 $ABSTRACT_F2_GAIN = 1; $F2_BG_GAIN = 1; # F6 $F6_BG_GAIN = 1; # Gaussian coding parms for object parameters $gauss_min = 0; $gauss_max = 100; $gauss_std = 4; $gauss_size = 30; $gauss_pad = 3; # Gaussian coding parms for joint positions # Must be consistent with net.nsl $gauss_position_min = -10; $gauss_position_max = 100; $gauss_position_pad = 1; $gauss_position_std = 10; $gauss_position_size = 10; $SIZE_MATCH_STD = 5; 1;