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parms.pl



#
# 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;


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