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mknet/genmcx Data Structures


Objects

$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.

Layers

$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.

Connectors

$connector{<connector>} = Concantenation of all connections 
	that are made to this sensory connector.  A single connection 
	is specified as <source name>:<weight>:

F5 Behavior Specification

$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 Behavior Specification

$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 Specification

$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.


Object/Grasp Map

$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 Cell Spec

$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 Spec

$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


$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


$pads{"index", <name>} = the location that pad <name>
	occurs in the @PADS list.

Phase Info

$phaseinfo{"index", <phase>} = translates a phase name into
	the index of where it occurs in the @PHASE_LIST.