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network.nsl (sample)



// net 2 compliant

set network RS
set delta 2.0  //0.05  rescaled now to mean ms.

set data_value delta 2.0 // Must have this since there is not documented
			 //  way to get to NSL's delta value

set end_time 1000000.0   // Not a useful parameter

set data_value dump_skip 10	// Note this is in time-steps and not ms

/////////////////////////////////////////////////////////////////////
// Column parameters

set data_value column_collector_kx1	0
set data_value column_collector_kx2	40 //20 //12 //5 //1
set data_value column_collector_ky1	0
set data_value column_collector_ky2	10
set data_value column_collector_ky3	16 //11

set data_value column_sensory_kx1 	0.1
set data_value column_sensory_kx2 	1
set data_value column_sensory_ky1 	0 
set data_value column_sensory_ky2 	6 //1

set data_value column_output_kx1	16.75 //16.5 //16 //11 //1.7
set data_value column_output_kx2	0.45  //used for threshexp as the gain
set data_value column_output_ky1	0
set data_value column_output_ky2	0
set data_value column_minimum_output_mem	15

set data_value column_tau 75 //150 //100 //200 //200 //100 //with old detla: 4 //10 //20 //40 //20.0 //4.0 //1.0


// SI Special parameters
set data_value SI_column_collector_kx1	0	// Null collector
set data_value SI_column_collector_kx2	1
set data_value SI_column_collector_ky1	0
set data_value SI_column_collector_ky2	0
set data_value SI_column_collector_ky3	0

set data_value SI_column_sensory_kx1 	0
set data_value SI_column_sensory_kx2 	1	// gain
set data_value SI_column_sensory_ky1 	0 
set data_value SI_column_sensory_ky2 	0

set data_value SI_column_output_kx1	0 //16 //11 //1.7
set data_value SI_column_output_kx2	1 //used for threshexp as the gain
set data_value SI_column_output_ky1	0
set data_value SI_column_output_ky2	0
set data_value SI_column_minimum_output_mem	-100
set data_value SI_column_tau 2.5 //10 //75

// SII Special parameters
set data_value SII_column_collector_kx1	0 //0.5 //0.75 //0.99
set data_value SII_column_collector_kx2	2
set data_value SII_column_collector_ky1	0
set data_value SII_column_collector_ky2	10
set data_value SII_column_collector_ky3	10 //11

set data_value SII_column_sensory_kx1 	3.8 // 3.7 //3.6 //3.4 //3.6 //3.2 //3.5	// High threshold
set data_value SII_column_sensory_kx2 	1
set data_value SII_column_sensory_ky1 	0 
set data_value SII_column_sensory_ky2 	6


set data_value SII_column_output_kx1	16 //17
set data_value SII_column_output_kx2	0.45 //1.0 //0.7
set data_value SII_column_output_ky1	0
set data_value SII_column_output_ky2	0
// F5 parms
set data_value F5_column_tau 250 //350 //250

// AIP parameters

set data_value AIP_column_collector_kx1	0
set data_value AIP_column_collector_kx2	20 //12 //5 //1
set data_value AIP_column_collector_ky1	0
set data_value AIP_column_collector_ky2	10
set data_value AIP_column_collector_ky3	16 //11

set data_value AIP_column_sensory_kx1 	0.2
set data_value AIP_column_sensory_kx2 	1
set data_value AIP_column_sensory_ky1 	0 
set data_value AIP_column_sensory_ky2 	6 //1


set data_value AIP_column_output_kx1	16.25 //16 //11 //1.7
set data_value AIP_column_output_kx2	0.45  //used for threshexp as the gain
set data_value AIP_column_output_ky1	0
set data_value AIP_column_output_ky2	0
set data_value AIP_column_minimum_output_mem	15



set data_value AIP_column_tau 150 //250 //350 //250 


// Mcx parameters
set data_value mcx_column_collector_kx1	0
set data_value mcx_column_collector_kx2	10 // 5 //1
set data_value mcx_column_collector_ky1	0
set data_value mcx_column_collector_ky2	10
set data_value mcx_column_collector_ky3	15 //11

set data_value mcx_column_sensory_kx1 	0.01
set data_value mcx_column_sensory_kx2 	0 //5 //1   Make range the same as what is received from the collector
set data_value mcx_column_sensory_ky1 	0 // A hack right now to get things moving
set data_value mcx_column_sensory_ky2 	11 //6 //1

set data_value mcx_column_output_kx1	21 //  Scaling as above 17 //11 //1.7
set data_value mcx_column_output_kx2	1  //used for threshexp as the gain
set data_value mcx_column_output_ky1	0
set data_value mcx_column_output_ky2	0
set data_value mcx_column_minimum_output_mem	15


// BG_PHASE parameters
set data_value BG_PHASE_column_collector_kx1	0
set data_value BG_PHASE_column_collector_kx2	10
set data_value BG_PHASE_column_collector_ky1	0
set data_value BG_PHASE_column_collector_ky2	0
set data_value BG_PHASE_column_collector_ky3	0

set data_value BG_PHASE_column_sensory_kx1 	0
set data_value BG_PHASE_column_sensory_kx2 	1.5 //1
set data_value BG_PHASE_column_sensory_ky1 	0 
set data_value BG_PHASE_column_sensory_ky2 	0 

set data_value BG_PHASE_column_output_kx1	0
set data_value BG_PHASE_column_output_kx2	1  //used for threshexp as the gain
set data_value BG_PHASE_column_output_ky1	0
set data_value BG_PHASE_column_output_ky2	0
set data_value BG_PHASE_column_minimum_output_mem	-100

// BG_GRASP parameters
set data_value BG_GRASP_column_collector_kx1	0
set data_value BG_GRASP_column_collector_kx2	10
set data_value BG_GRASP_column_collector_ky1	0
set data_value BG_GRASP_column_collector_ky2	0
set data_value BG_GRASP_column_collector_ky3	0

set data_value BG_GRASP_column_sensory_kx1 	0
set data_value BG_GRASP_column_sensory_kx2 	2 //1
set data_value BG_GRASP_column_sensory_ky1 	0 
set data_value BG_GRASP_column_sensory_ky2 	1

set data_value BG_GRASP_column_output_kx1	0
set data_value BG_GRASP_column_output_kx2	1  //used for threshexp as the gain
set data_value BG_GRASP_column_output_ky1	0
set data_value BG_GRASP_column_output_ky2	0
set data_value BG_GRASP_column_minimum_output_mem	-100

// BG_F5_RECURRENT parameters
set data_value BG_F5_RECURRENT_column_collector_kx1	0
set data_value BG_F5_RECURRENT_column_collector_kx2	10
set data_value BG_F5_RECURRENT_column_collector_ky1	0
set data_value BG_F5_RECURRENT_column_collector_ky2	0
set data_value BG_F5_RECURRENT_column_collector_ky3	0

set data_value BG_F5_RECURRENT_column_sensory_kx1 	0 //5 //10 //25 //20 //15 //10 //5 //0
set data_value BG_F5_RECURRENT_column_sensory_kx2 	0.11 //0.115 //0.125 //0.155 //0.12 //0.125 //0.15 //0.1 //0.085 //0.09 //0.07 //0.1 //0.13 //0.15 //0.16 //0.11 //0.12 //0.09 //0.165 //0.185 //0.175 //0.165 //0.185 //0.175 //0.15 //0.1 //0.075  // This is a gain
set data_value BG_F5_RECURRENT_column_sensory_ky1 	0 
set data_value BG_F5_RECURRENT_column_sensory_ky2 	0

set data_value BG_F5_RECURRENT_column_output_kx1	0
set data_value BG_F5_RECURRENT_column_output_kx2	1.3 //1.2 //1.1 //1.1 //1.2 //1  //used for threshexp as the gain
set data_value BG_F5_RECURRENT_column_output_ky1	0
set data_value BG_F5_RECURRENT_column_output_ky2	0
set data_value BG_F5_RECURRENT_column_minimum_output_mem	-100
set data_value BG_F5_RECURRENT_column_tau		30

// BG_AIP_RECURRENT parameters
set data_value BG_AIP_RECURRENT_column_collector_kx1	0
set data_value BG_AIP_RECURRENT_column_collector_kx2	10
set data_value BG_AIP_RECURRENT_column_collector_ky1	0
set data_value BG_AIP_RECURRENT_column_collector_ky2	0
set data_value BG_AIP_RECURRENT_column_collector_ky3	0

set data_value BG_AIP_RECURRENT_column_sensory_kx1 	0
set data_value BG_AIP_RECURRENT_column_sensory_kx2 	0.04 //0.01 //0.06 //0.04   // This is a gain
set data_value BG_AIP_RECURRENT_column_sensory_ky1 	0 
set data_value BG_AIP_RECURRENT_column_sensory_ky2 	0 

set data_value BG_AIP_RECURRENT_column_output_kx1	0
set data_value BG_AIP_RECURRENT_column_output_kx2	1  //used for threshexp as the gain
set data_value BG_AIP_RECURRENT_column_output_ky1	0
set data_value BG_AIP_RECURRENT_column_output_ky2	0
set data_value BG_AIP_RECURRENT_column_minimum_output_mem	-100
set data_value BG_AIP_RECURRENT_column_tau		30

// F2 Column parameters

set data_value F2_column_collector_kx1	0
set data_value F2_column_collector_kx2	1
set data_value F2_column_collector_ky1	0
set data_value F2_column_collector_ky2	10
set data_value F2_column_collector_ky3	11

set data_value F2_column_sensory_kx1 	0
set data_value F2_column_sensory_kx2 	1
set data_value F2_column_sensory_ky1 	0 
set data_value F2_column_sensory_ky2 	6

set data_value F2_column_output_kx1	17
set data_value F2_column_output_kx2	1  //used for threshexp as the gain
set data_value F2_column_output_ky1	0
set data_value F2_column_output_ky2	0
set data_value F2_column_minimum_output_mem	16



/////////////////////////////////////////////////////////////////////
// Gate parameters

set data_value gate_pr_kx1 		0
set data_value gate_pr_kx2 		1
set data_value gate_pr_ky1 		0 //20 //0
set data_value gate_pr_ky2 		1 //21 //1

set data_value gate_support_kx1 	0.6 //20.6 //0.6 //0.9
//set data_value gate_support_kx2 	Unused
set data_value gate_support_ky1 	0
set data_value gate_support_ky2 	0 //0.3


// F5 Gate parameters

set data_value F5_gate_pr_kx1 		0
set data_value F5_gate_pr_kx2 		1
set data_value F5_gate_pr_ky1 		0 //0
set data_value F5_gate_pr_ky2 		20 //1

set data_value F5_gate_support_kx1 	19.4 //20 //20.6 //0.6 //0.9
//set data_value F5_gate_support_kx2 	Unused
set data_value F5_gate_support_ky1 	0
set data_value F5_gate_support_ky2 	0 //0.3


// Special mcx gating parameters
set data_value mcx_gate_support_kx1 	0 //1
//set data_value mcx_gate_support_kx2 	Unused
set data_value mcx_gate_support_ky1 	0
set data_value mcx_gate_support_ky2 	0 //1

// Special SII priming parameters 
set data_value SII_gate_pr_kx1 		0 //0.5 //1
set data_value SII_gate_pr_kx2 		2
set data_value SII_gate_pr_ky1 		0.1 //0.5
set data_value SII_gate_pr_ky2 		0.1 // no priming1

set data_value SII_gate_support_kx1 	0 //0.45
//set data_value SII_gate_support_kx2 	Unused
set data_value SII_gate_support_ky1 	0
set data_value SII_gate_support_ky2 	0 //0.5


// Special AIP gating parameters
set data_value AIP_gate_pr_kx1 		0
set data_value AIP_gate_pr_kx2 		1
set data_value AIP_gate_pr_ky1 		0 //0
set data_value AIP_gate_pr_ky2 		20 //1

set data_value AIP_gate_support_kx1 	19.6 //20.6    //0.6
set data_value AIP_gate_support_ky1 	0.01	// Some support no matter what.
set data_value AIP_gate_support_ky2 	0.5 //0.2


// Special BG_PHASE priming parameters 
set data_value BG_PHASE_gate_pr_kx1 		0
set data_value BG_PHASE_gate_pr_kx2 		1
set data_value BG_PHASE_gate_pr_ky1 		0 
set data_value BG_PHASE_gate_pr_ky2 		1

set data_value BG_PHASE_gate_support_kx1 	0 
set data_value BG_PHASE_gate_support_ky1 	0
set data_value BG_PHASE_gate_support_ky2 	0 

// Special BG_GRASP priming parameters 
set data_value BG_GRASP_gate_pr_kx1 		0
set data_value BG_GRASP_gate_pr_kx2 		1
set data_value BG_GRASP_gate_pr_ky1 		0 
set data_value BG_GRASP_gate_pr_ky2 		1

set data_value BG_GRASP_gate_support_kx1 	0 
set data_value BG_GRASP_gate_support_ky1 	0
set data_value BG_GRASP_gate_support_ky2 	0 

// Special BG_F5_RECURRENT priming parameters 
set data_value BG_F5_RECURRENT_gate_pr_kx1 		0
set data_value BG_F5_RECURRENT_gate_pr_kx2 		1
set data_value BG_F5_RECURRENT_gate_pr_ky1 		0 
set data_value BG_F5_RECURRENT_gate_pr_ky2 		1

set data_value BG_F5_RECURRENT_gate_support_kx1 	0 
set data_value BG_F5_RECURRENT_gate_support_ky1 	0
set data_value BG_F5_RECURRENT_gate_support_ky2 	0 

// Special BG_AIP_RECURRENT priming parameters 
set data_value BG_AIP_RECURRENT_gate_pr_kx1 		0
set data_value BG_AIP_RECURRENT_gate_pr_kx2 		1
set data_value BG_AIP_RECURRENT_gate_pr_ky1 		0 
set data_value BG_AIP_RECURRENT_gate_pr_ky2 		1

set data_value BG_AIP_RECURRENT_gate_support_kx1 	0 
set data_value BG_AIP_RECURRENT_gate_support_ky1 	0
set data_value BG_AIP_RECURRENT_gate_support_ky2 	0 

// F2 Gate parameters

set data_value F2_gate_pr_kx1 		0
set data_value F2_gate_pr_kx2 		1
set data_value F2_gate_pr_ky1 		0
set data_value F2_gate_pr_ky2 		1

set data_value F2_gate_support_kx1 	0
set data_value F2_gate_support_ky1 	0
set data_value F2_gate_support_ky2 	0

/////////////////////////////////////////////////////////////////////
//  Area 46

set data_value A46_scale 1


/////////////////////////////////////////////////////////////////////
// Network setup

set data_value SMA_INPUT 1
set data_value F6_INPUT 0 0 0 0


/////////////////////////////////////////////////////////////////////
// Protocol parameters - units are in ms

set data_value TRIGGER0_ON_TIME 700	// 'ready' signal.
set data_value TRIGGER0_OFF_TIME 1700

set data_value TRIGGER_ON_TIME 2000 //1800 //1000	// 'go' signal
set data_value TRIGGER_OFF_TIME 2300 //1300

set data_value TRIGGER2_ON_TIME 5300 //5200  	// secondary 'go' signal
set data_value TRIGGER2_OFF_TIME 5800 //5700

//set data_value ENCLOSE_TIME 10000 //225    May be overriden by object config
set data_value ATTENTION_OFF_TIME 400 //      May be overriden by object config

				// Abstract IS presentation
set data_value ABSTRACT_STORE 0 0 0 0
set data_value TRIGGER3_ON_TIME -1
set data_value TRIGGER3_OFF_TIME -1

set data_value F6_STORE 0 0 0 0

set data_value TRIGGER4_ON_TIME -1
set data_value TRIGGER4_OFF_TIME -1

set data_value A46_accum_flag 0
set data_value TRIGGER_46_ON_TIME -1
set data_value TRIGGER_46_OFF_TIME -1



/////////////////////////////////////////////////////////////////////
// Hand-oriented parameters.

// New (V4) hand-oriented parameters
set data_value default_finger_threshold 2.0 //0.1
set data_value default_finger_desired
20.00	68.34	54.50 	70.00	70.00	70.00	70.00	70.00	
70.00 	70.00	70.00	70.00	70.00	70.00	70.00
set data_value default_finger_degree
4.0	4.0	4.0	4.0	4.0	4.0	4.0	4.0	
4.0	4.0	4.0	4.0	4.0	4.0	4.0

//set data_value position_gain 0.004 // 0.001 //rescaled because mcx units are output larger values 0.005 //0.001 //0.002 //0.0025

set data_value finger_stiffness 
50	50	50	50	50	50	50	50	
50	50	50	50	50	50	50	
set data_value degree2stiffness 40
set data_value finger_vel_gain 12
set data_value degree2vel_gain 5

set data_value force_gain 0.5


/////////////////////////////////////////////////////////////////////

// Free parameters used during debugging
//set data_value free_parm 3
//set data_value free2_parm 1
//set data_value free3_parm -1.5


/////////////////////////////////////////////////////////////////////
//  Coding of joint positions using distributed coding scheme
//  Must be consistent with parms.pl (of mknet) 

set data_value gauss_position_min -10
set data_value gauss_position_max 100
set data_value gauss_position_pad 1
set data_value gauss_position_std 3 //10


/////////////////////////////////////////////////////////////////////
set data_value pet_flag 0