ref:mimic_measure

MimicMeasure

Measure for how well a simulation mimics data from predefined motion file.

This measure only considers variable that are part of the model state, which includes DOFs, DOF velocities, muscle activation (*.activation), and muscle fiber length (*.fiber_length) Variables that are derived from the state are not included in the measure. Example:

# Measure for mimicking 2D gait
MimicMeasure {
    name = Mimic
    weight = 10000
    file = my_data_file.sto
    include_states = "*.pos.x;*.pos.y;*.ori.z;*.activation"
    stop_time = 2
    threshold = 0.01
    average_error_limit = 0.01
    activation_error_weight = 0.25
}

Inherits from Measure.

Parameter Type Description
file xo::path Filename of storage (sto).
include_states xo::pattern_matcher States to include for comparison; default = *.
exclude_states xo::pattern_matcher States to exclude for comparison; default = “”.
use_best_match bool Use only best match instead of average match useful when data contains a single pose; default = false.
average_error_limit Real Average error above which to terminate simulation early (if set to non-zero); default = 0.
peak_error_limit Real Peak error above which to terminate simulation early (if set to non-zero); default = 2 * average_error_limit.
time_offset TimeInSeconds Time in the .sto file to start measuring; default = 0.
activation_error_weight Real weight applied to muscle activation error; default = 1.
name String Name of the Measure, to be used in reporting; defaults to measure type.
weight Real Weighting factor applied to the result of the measure; default = 1.
threshold Real Threshold above / below which the measure becomes zero; default = 0.
threshold_transition Real Transition range above threshold between which the measure linearly decreases to zero; default = 0.
result_offset Real Offset added to measure result; default = 0.
minimize bool Indicate whether this measure should be minimized; default value depends on the measure type (usually true).
start_time TimeInSeconds Time [s] at which Controller becomes active; default = 0.
stop_time TimeInSeconds Time [s] at which Controller becomes inactive; default = until simulation ends.
signature_prefix String Prefix signature with custom string. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION.
signature_postfix String Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION.
signature String Set custom signature and omit the auto-generated signature.
Function Description
double GetCurrentResult(const Model &model) override Get last computed measure value, for use in rewards.
double GetResult(const Model &model) Get final result.

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