$object{"num"} = number of objects in db $object{"name", <i>} = name of object i $object{"index", <name>} = index of object corresponding to <name> $object{"shape", <i>} = shape of object i $object{"parameter", <i>, <parm>} = value of parameter <parm> $object{"code", <i>} = neural coding of object i $object{"parameter index", <i>, <parameter>} = index in the array that has the maximum value. $object{"parameter match", <i>, <parameter>} = match value corresponding to that index.
$net{"num", <layer>} = number of columns in the layer. $net{"sensory connector", <layer>, <column>} = Concantenation of all connections that are made to this sensory connector. A single connection is specified as <source name>:<weight>: $net{"priming connector", <layer>, <column>} = Same as above for the priming unit. $net{"support connector", <layer>, <column>} = Same as above for the support unit. $net{"support threshold", <layer>, <column>} = Threshold for support unit.
$connector{<connector>} = Concantenation of all connections that are made to this sensory connector. A single connection is specified as <source name>:<weight>:
$f5{"num"} = number of F5 units defined $f5{"num", <i>} = number of grasps associated with unit i. $f5{"grasp", <i>, <j>} = grasp type for unit i (jth grasp associated with unit i). $f5{"grasp response", <i>, <j>} = Degree of response for unit i(j). $f5{"grasp aperture", <i>, <j>} = Prefered aperture for unit i(j). -1 implies no prefered aperture. $f5{"phase response", <i>, <j>, <phase>} = Response of unit i(j) during phase <phase>. <phase> is one of "set", "extension", "flexion", "hold", and "release" $f5{"total phase response", <i>, <j>} = the sum of the phase responses. $f5{"phase first", <i>, <j>} = the first phase in which the phase response is non-zero. $f5{"phase last", <i>, <j>} = the last phase in which the phase response is non-zero. $f5{"primary grasp", <i>} = the index <j> that has the highest grasp response (computed by analyze_f5_unit()). $f5{"primary phase", <i>} = the phase that has the highest response (computed by analyze_f5_unit()). genmcx only: $f5{"weights", "p", $i} = list of weights to position units (standard concatenation format). $f5{"weights", "f", $i} = list of weights to force units. $f5{"weights", "if", $i} = list of weights to inverse units.
$aip{"num"} = number of AIP units defined $aip{"grasp type", <i>} = grasp types th $aip{"phase", <i>} = phasic behavior of AIP cell. One of "set", "early", "late". $aip{"aperture", <i>} = prefered aperture of unit i. -1 if no prefered aperture. $aip{"visual", <i>} = degree of visual response of unit i. $aip{"motor", <i>} = degree of motor response of unit i. -- will auto-assign these properties... #$aip{"num", <i>} = number of objects defined for unit i. #$aip{"object", <i>, <j>} = name of jth object associated # with unit i. #$aip{"object response", <i>, <j>} = response level of unit # i to its jth object.
$grasp{"num"} = number of grasps defined. $grasp{"name", <i>} = name of grasp i. $grasp{"index", <name>} = index of grasp corresponding to <name> $grasp{"index", <type>, <aperture>} = index of grasp corresponding to <type> and <aperture>. The code assumes that this is a unique mapping. $grasp{"type", <i>} = type of grasp. $grasp{"aperture", <i>} = aperture of grasp. $grasp{"final pos", <i> <joint>} = orientation of joint <joint>, specifying the final position. $grasp{"preshape pos", <i> <joint>} = orientation of joint <joint>, specifying the max aperture position. $grasp{"jacobian", <i> <joint>} = orientation of joint <joint>, specifying the max aperture position. $grasp{"tactile mask", <i> <pad>} = expected tactile input when grasp is completed. $grasp{"object center", <i> <parm>} = specification for the center of the object to be grasped. <parm> is one of r11, r12, r13, r21, r22, r23, r31, r32, r33, x, y, z, constraint. mknet only: $grasp{"SII", "maximum extent", $i} = the index into the $sii structure of the SII unit that detects this grasp's maximum extent. $grasp{"SII", "contact", $i} = the index into the $sii structure of the SII unit that detects this grasp's contact event. $grasp{"type index", <type>} = the index of <type> in the @GRASP_TYPES list.
$ogmap{"grasps", <object>} = a set of grasp names concatenated together (separated by ':'s). $ogmap{"objects", <grasp>} = a set of object names concatenated together (separated by ':'s). $ogmap{"sepobjects", <grasp type>} = a set of object names concatenated together (separated by ':'s). These match the grasp type. $ogmap{"parms", <object>, <grasp>} = a set of bits indicating which fingers will intersect with the object.
$mcx{"num"} = Number of mcx units. $mcx{"num", <i>} = Number of joint positions specified by unit i. $mcx{"type", <i>} = Type of mcx unit (position, force, or inverse force (p, f, if)). $mcx{"joint", <i>, <j>} = Name of jth joint of unit i. $mcx{"position", <i>, <j>} = Prefered position of jth joint of unit i. $mcx{"activity", <i>, <j>} = Support level for the position of jth joint of unit i. $mcx{"index", <i>, <joint name>} = the joint index of the specified joint. $mcx{"index", <joint>} = Concatenation of all mcx indices that specify the position of <joint> genmcx only: $mcx{"type index", <i>} = the index of this unit into one of the arrays: position, force, or inverse force. $mcx{"num", "position"} = Number of mcx position units. $mcx{"num", "force"} = Number of mcx force units. $mcx{"num", "inverse force"} = Number of mcx inverse force units.
$sii{"num"} = number of SII units allocated.; $sii{"grasp", $i} = index into the grasp structure of the corresponding grasp. $sii{"grasp", $i} = index into the grasp structure of the corresponding grasp. $sii{"type", $i} = type of this cell (one of @SII_TYPES).
$joints{<type>, <name>} = name of the corresponding connector. <type> is one of "preferred" or "degree". Name is one of the elements in the @JOINTS list. $joints{"index", <name>} = the index of the corresponding joint. (in the @JOINTS list).
$pads{"index", <name>} = the location that pad <name> occurs in the @PADS list.
$phaseinfo{"index", <phase>} = translates a phase name into the index of where it occurs in the @PHASE_LIST.