-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathsimulation_exp_template.xml
218 lines (218 loc) · 9.44 KB
/
simulation_exp_template.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
<!--
A simulation experiment
-->
<SimulationExperiment>
<!--directory relative to this file where output files will be placed-->
<BaseDir></BaseDir>
<!--MDS diagrams to generate-->
<MDS-Definitions>
<!--MDS diagram definition-->
<MDS>
<!--Name of the MDS diagram-->
<Name>string</Name>
<!--Trials included in the MDS diagram-->
<Trials>
<!--Name of the trial-->
<Trial>string</Trial>
</Trials>
</MDS>
</MDS-Definitions>
<!--Simulations to run-->
<Simulations>
<!--Simulation definition-->
<Simulation>
<Object>
<!--Name of the object-->
<Name>string</Name>
<!--Position of the object in cartesian coordinates when the simulation begins-->
<Position>
<x>double</x>
<y>double</y>
<z>double</z>
</Position>
<!--Tilt of the object (in radians)-->
<Tilt>double</Tilt>
<!--Whether or not an object is visible while a grasp is planned (TODO: otherwise pantomime)-->
<Visible>boolean</Visible>
</Object>
<Obstacle>
<!--Name of the obstacle object. Omit this tag if there is no obstacle-->
<Name>string</Name>
<!--Position of the obstacle in cartesian coordinates when the simulation begins-->
<Position>
<x>double</x>
<y>double</y>
<z>double</z>
</Position>
<!--Tilt of the obstacle (in radians)-->
<Tilt>double</Tilt>
<!--Whether or not the obstacle is visible while the grasp is planned-->
<Visible>boolean</Visible>
</Obstacle>
<Other>
<!--Initial joint angles of the other. Omitted joint angles will be initialized to their default values-->
<JointAngles>
<!--Joint angle definition-->
<Joint>
<!--Name of the joint-->
<name>string</name>
<!--Initial joint angle in degrees-->
<angle>double</angle>
</Joint>
</JointAngles>
<!--Whether or not the other arm is visible-->
<Visible>boolean</Visible>
</Other>
<Self>
<!--Initial joint angles of the self. Omitted joint angles will be initialized to their default values-->
<JointAngles>
<!--Joint angle definition-->
<Joint>
<!--Name of the joint-->
<name>string</name>
<!--Initial joint angle in degrees-->
<angle>double</angle>
</Joint>
</JointAngles>
<!--Whether or not the self arm is visible-->
<Visible>boolean</Visible>
</Self>
<!--Camera view-->
<View>
<f>
<x>double</x>
<y>double</y>
<z>double</z>
</f>
<x>
<x>double</x>
<y>double</y>
<z>double</z>
</x>
<y>
<x>double</x>
<y>double</y>
<z>double</z>
</y>
<z>
<x>double</x>
<y>double</y>
<z>double</z>
</z>
<zoom>double</zoom>
</View>
<!--Simulation trials to perform-->
<Trials>
<!--Simulation trial definition-->
<Trial>
<!--Name of the trial-->
<TrialName>string</TrialName>
<Output>
<Simulation>
<!--Whether or not to record an image of each frame of the simulation trial-->
<Record>boolean</Record>
<!--What file format to write frame images to-->
<Format>gif|ppm</Format>
</Simulation>
<Network>
<!--Whether or not to record the activity of the network-->
<Record>boolean</Record>
</Network>
</Output>
<Object>
<!--Visibility of the object-->
<Visible>boolean</Visible>
<!--Position of the object in cartesian coordinates when the grasp is executed for recognition-->
<Position>
<x>double</x>
<y>double</y>
<z>double</z>
</Position>
<!--Tilt of the object (in radians)-->
<Tilt>double</Tilt>
</Object>
<Obstacle>
<!--Visibility of the obstacle-->
<Visible>boolean</Visible>
<!--Position of the obstacle in cartesian coordinates when the grasp is executed for recognition-->
<Position>
<x>double</x>
<y>double</y>
<z>double</z>
</Position>
<!--Tilt of the object (in radians)-->
<Tilt>double</Tilt>
</Obstacle>
<Grasp>
<Sound>
<!--Audibility of the grasp-->
<Audible>boolean</Audible>
<!--Whether or not the sound fits the action-->
<Congruent>boolean</Congruent>
</Sound>
<!--Whether or not the final component of the grasp is visible-->
<Hidden>boolean</Hidden>
<!--Speed at which to perform the grasp-->
<Speed>1-10</Speed>
<!--Type of imitation to perform. If omitted, no imitation will be performed-->
<ImitationType>direct|indirect|natural</ImitationType>
</Grasp>
<Other>
<!--Visibility of the other-->
<Visible>boolean</Visible>
</Other>
<Self>
<!--Visibility of the self-->
<Visible>boolean</Visible>
<Network>
<!--Learning rule to use for grasp recognition-->
<LearningRule>Hebbian|BP|BPTT|BPTTwithHebbian</LearningRule>
<!--Lesions to perform on the network-->
<Lesions>
<!--Lesion definition-->
<Lesion>
<!--From layer-->
<Connection>audio|recurrent|inputToHidden|hiddenToOutput|teacherToOutput</Connection>
<!--When to lesion-->
<Time>preGrasp|graspStatic</Time>
</Lesion>
</Lesions>
<!--Whether or not to perform dynamic remapping on the hand state-->
<DynamicRemapping>boolean</DynamicRemapping>
<!--Point on the arm used for dynamic remapping-->
<RemappingPoint>forearm|elbow|arm</RemappingPoint>
<!--Weight file to use for grasp recognition-->
<WeightFile>filename</WeightFile>
<!--Weight file to use for sound recognition-->
<SoundWeightFile>filename</SoundWeightFile>
</Network>
</Self>
<!--Screenshots to take. TODO: allow time step specification-->
<Screenshots>
<!--Time to take screenshot-->
<Screenshot>post</Screenshot>
</Screenshots>
<!--Plots to record-->
<Plots>
<!--Plot definition-->
<Plot>
<!--Network to plot from-->
<network>main|audio</network>
<!--Name of the plot-->
<name>string</name>
<!--Dimensionality of the data-->
<dimensions>int</dimensions>
<!--Extra gnuplot commands-->
<extracommand>string</extracommand>
<!--Plot data labels-->
<labels>
<!--Data series label-->
<label>string</label>
</labels>
</Plot>
</Plots>
</Trial>
</Trials>
</Simulation>
</Simulations>
</SimulationExperiment>