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1 * Summary of Senses
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2
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3 vision -- list of functions which must each be called with
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4 the world as their argument, each of which returns [topology data]. Each
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5 element of data is a number between 0 and 255 representing the
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6 intensity of the light recieved at that sensor. Each element of
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7 topology is a pair of numbers [x, y] such that numbers whose pairs
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8 have a short euclidean distance are generally physically close on the
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9 actual sensor.
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10
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11 proprioception -- list of nullary functions, one for each joint, which
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12 return [heding pitch roll].
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13
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14 movement -- list of functions, one for each muscle, which must be
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15 called with an integer between 0 and the total number of muscle fibers
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16 in the muscle. Each function returns a float which is (current-force/
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17 total-possible-force).
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18
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19 touch -- list of functions which must each be called with a Node
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20 (normally the root node of the simulation) the argument, each of which
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21 returns [topology data]. Each element of data is [length limit] where
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22 limit is the length of that particular "hair" and length is the amount
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23 of the hair that has been activated so far. (= limit length) means that
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24 nothing is touching the hair.
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25
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26
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27 * A Flower
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28
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29 A flower is a basic creature that tries to maximize the amount of
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30 light that it sees. It can have one or more eyes, with one eye being
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31 "special" in that it is this eye which must recieve maximum light. It
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32 can have multiple articulated joints and mulcles.
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33
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34 Want an algorithm that uses the sense data of =vision=
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35 =proprioception=, and =movement= to maximum benefit in order to look
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36 at the light source.
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37
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38 The light source will move from place to place and the flower will
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39 have to follow it.
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40
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41 The algorithm should be generalize to any number of eyes and muscles,
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42 and should become /more/ preformant the more sensory data is
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43 available.
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44
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45 I will punt on working out an elegant model of motivation for the
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46 flower which makes it want to go to the light.
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47
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48 Maybe I need a motivationless entity first, which just learns how its
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49 own body works? But then, wouldn't that just be a motivation itself?
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50
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51
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52
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53
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54
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55 #+name: load-creature
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56 #+begin_src clojure
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57 (in-ns 'cortex.joint)
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58
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59 (def joint "Models/joint/joint.blend")
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60
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61 (defn joint-creature []
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62 (load-blender-model joint))
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63
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64 (defn test-joint-creature []
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65 (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
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66 creature (doto (joint-creature) (body!))
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67
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68 ;;;;;;;;;;;; Sensors/Effectors ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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69 touch (touch! creature)
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70 touch-display (view-touch)
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71
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72 vision (vision! creature)
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73 vision-display (view-vision)
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74
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75 ;;hearing (hearing! creature)
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76 ;;hearing-display (view-hearing)
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77
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78 prop (proprioception! creature)
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79 prop-display (view-proprioception)
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80
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81 muscles (movement! creature)
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82 muscle-display (view-movement)
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83 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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84
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85 fix-display (gen-fix-display)
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86
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87 floor (box 10 2 10 :position (Vector3f. 0 -9 0)
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88 :color ColorRGBA/Gray :mass 0)]
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89 (world
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90 (nodify [floor me creature])
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91 standard-debug-controls
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92 (fn [world]
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93 ;;(speed-up world)
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94 (light-up-everything world)
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95 (let [timer (RatchetTimer. 60)]
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96 (.setTimer world timer)
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97 (display-dilated-time world timer)))
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98 (fn [world tpf]
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99 (.setLocalTranslation me (.getLocation (.getCamera world)))
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100 (fix-display world)))))
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101 #+end_src
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102
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103 * Headers
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104 #+name: joint-header
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105 #+begin_src clojure
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106 (ns cortex.joint
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107 (:require cortex.import)
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108 (:use (cortex world util import body sense
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109 hearing touch vision proprioception movement))
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110 (:import java.io.File)
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111 (:import (com.aurellem.capture RatchetTimer IsoTimer)))
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112
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113 (cortex.import/mega-import-jme3)
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114 (rlm.rlm-commands/help)
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115 #+end_src
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116
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117
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118 * COMMENT Generate Source
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119
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120 #+begin_src clojure :tangle ../src/cortex/joint.clj
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121 <<joint-header>>
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122 <<load-creature>>
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123 #+end_src
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124
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