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Skill · Franka Panda

Reach on command

Panda arm reaches forward and closes its gripper while the “reach” pathway is ON.

Train this skillThe Franka Panda

Runs on the Franka Panda · Robot arm

01 Pathway

How the neurons drive it.

A pathway is one cue: the electrode we pulse, the electrodes we read, and the rule that decides when it is ON. This skill has one.

“reach”

Pulse electrode
13at 10 Hz
Read electrodes
5 6 12 14 20 21 22
ON at
0.6spikes per electrode per 100 ms

We pulse electrode 13 at 10 Hz. When electrodes 5, 6, 12, 14, 20, 21 and 22 average at least 0.6 spikes per 100 ms, and twice the rate of the rest of the array, “reach” is ON.

These are the skill file’s starting electrodes, numbered column by column across the 8 × 8 array. Calibration moves each pathway onto electrodes your culture actually answers on and raises its ON threshold above resting noise.

02 Movement

What the Franka Panda does.

Target pose “reach”

joint 2
0.7 rad
joint 4
−1.2 rad
joint 6
2 rad
gripper
0 (closed)

03 The test

Moves only while cued.

Pulse ‘reach’ 1–4 s: the arm reaches only while pulsed.

The test · 6 s · moves only while cued
reach
reach: pulsed 1–4 s

It passes when

  1. 01Reaches while pulsed
  2. 02Idle before pulses
  3. 03Retracts after

04 Proof

Proof it is the neurons.

Validation replays this test three times on the same spontaneous activity. The skill counts only if it passes with stimulation and fails under both controls; if it also passes without the neurons, it is marked invalid.

With stimulationShould pass
No stimulationShould fail
Spikes blockedShould fail

How validation works

05 More skills

More for the Franka Panda.

  1. 01Sweep left / right2 pathways · 7 s testBase turns left or right depending on which pathway the neurons answer on.

All skills

Franka Panda

Train “Reach on command” on the Franka Panda.

Choose a biocomputer, launch, and watch it calibrate, train and validate.

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