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completed debug control of worm.
author Robert McIntyre <rlm@mit.edu>
date Mon, 17 Mar 2014 17:29:59 -0400
parents 6ba908c1a0a9
children 9b4a4da08b78
rev   line source
rlm@394 1 (ns org.aurellem.worm-learn
rlm@394 2 "General worm creation framework."
rlm@394 3 {:author "Robert McIntyre"}
rlm@394 4 (:use (cortex world util import body sense
rlm@394 5 hearing touch vision proprioception movement))
rlm@394 6 (:import (com.jme3.math ColorRGBA Vector3f))
rlm@394 7 (:import java.io.File)
rlm@394 8 (:import com.jme3.audio.AudioNode)
rlm@397 9 (:import com.aurellem.capture.RatchetTimer)
rlm@397 10 (:import (com.aurellem.capture Capture IsoTimer))
rlm@397 11 (:import (com.jme3.math Vector3f ColorRGBA)))
rlm@397 12
rlm@394 13
rlm@394 14 (dorun (cortex.import/mega-import-jme3))
rlm@394 15 (rlm.rlm-commands/help)
rlm@394 16
rlm@400 17 (load-bullet)
rlm@394 18
rlm@399 19 (def hand "Models/test-creature/hand.blend")
rlm@394 20
rlm@399 21 (defn worm-model []
rlm@399 22 (load-blender-model "Models/worm/worm.blend"))
rlm@394 23
rlm@400 24 (def output-base (File. "/home/r/proj/cortex/render/worm-learn/curl"))
rlm@394 25
rlm@397 26
rlm@399 27 (defn motor-control-program
rlm@399 28 "Create a function which will execute the motor script"
rlm@399 29 [muscle-positions
rlm@399 30 script]
rlm@399 31 (let [current-frame (atom -1)
rlm@399 32 keyed-script (group-by first script)
rlm@399 33 current-forces (atom {}) ]
rlm@399 34 (fn [effectors]
rlm@399 35 (let [indexed-effectors (vec effectors)]
rlm@399 36 (dorun
rlm@399 37 (for [[_ part force] (keyed-script (swap! current-frame inc))]
rlm@399 38 (swap! current-forces (fn [m] (assoc m part force)))))
rlm@399 39 (doall (map (fn [effector power]
rlm@399 40 (effector (int power)))
rlm@399 41 effectors
rlm@399 42 (map #(@current-forces % 0) muscle-positions)))))))
rlm@397 43
rlm@404 44 (defn worm-direct-control
rlm@404 45 "Create keybindings and a muscle control program that will enable
rlm@404 46 the user to control the worm via the keyboard."
rlm@404 47 [muscle-labels activation-strength]
rlm@404 48 (let [strengths (mapv (fn [_] (atom 0)) muscle-labels)
rlm@404 49 activator
rlm@404 50 (fn [n]
rlm@404 51 (fn [world pressed?]
rlm@404 52 (let [strength (if pressed? activation-strength 0)]
rlm@404 53 (swap! (nth strengths n) (constantly strength)))))
rlm@404 54 activators
rlm@404 55 (map activator (range (count muscle-labels)))
rlm@404 56 worm-keys
rlm@404 57 ["key-f" "key-r"
rlm@404 58 "key-g" "key-t"
rlm@404 59 "key-y" "key-h"
rlm@404 60 "key-j" "key-u"
rlm@404 61 "key-i" "key-k"
rlm@404 62 "key-o" "key-l"]]
rlm@404 63 {:motor-control
rlm@404 64 (fn [effectors]
rlm@404 65 (doall
rlm@404 66 (map (fn [strength effector]
rlm@404 67 (effector (deref strength)))
rlm@404 68 strengths effectors)))
rlm@404 69 :keybindings
rlm@404 70 ;; assume muscles are listed in pairs and map them to keys.
rlm@404 71 (zipmap worm-keys activators)}))
rlm@400 72
rlm@400 73 ;; These are scripts that direct the worm to move in two radically
rlm@400 74 ;; different patterns -- a sinusoidal wiggling motion, and a curling
rlm@400 75 ;; motions that causes the worm to form a circle.
rlm@400 76
rlm@400 77 (def curl-script
rlm@400 78 [[370 :d-up 40]
rlm@400 79 [600 :d-up 0]])
rlm@400 80
rlm@400 81 (def period 18)
rlm@400 82
rlm@404 83 (def worm-muscle-labels
rlm@399 84 [:base-up :base-down
rlm@404 85 :a-down :a-up
rlm@399 86 :b-up :b-down
rlm@404 87 :c-down :c-up
rlm@400 88 :d-up :d-down])
rlm@399 89
rlm@399 90 (defn gen-wiggle [[flexor extensor :as muscle-pair] time-base]
rlm@399 91 (let [period period
rlm@399 92 power 45]
rlm@399 93 [[time-base flexor power]
rlm@399 94 [(+ time-base period) flexor 0]
rlm@399 95 [(+ time-base period 1) extensor power]
rlm@399 96 [(+ time-base (+ (* 2 period) 2)) extensor 0]]))
rlm@399 97
rlm@399 98 (def wiggle-script
rlm@399 99 (mapcat gen-wiggle (repeat 40 [:a-down :a-up])
rlm@399 100 (range 100 10000 (+ 3 (* period 2)))))
rlm@399 101
rlm@399 102
rlm@400 103 ;; Normally, we'd use unsupervised/supervised machine learning to pick
rlm@400 104 ;; out the defining features of the different actions available to the
rlm@400 105 ;; worm. For this project, I am going to explicitely define functions
rlm@400 106 ;; that recognize curling and wiggling respectively. These functions
rlm@400 107 ;; are defined using all the information available from an embodied
rlm@400 108 ;; simulation of the action. Note how much easier they are to define
rlm@400 109 ;; than if I only had vision to work with. Things like scale/position
rlm@400 110 ;; invariance are complete non-issues here. This is the advantage of
rlm@400 111 ;; body-centered action recognition and what I hope to show with this
rlm@400 112 ;; thesis.
rlm@400 113
rlm@400 114 (defn last-nth
rlm@400 115 "Create function that will, when called each frame with the senses
rlm@400 116 of a creature, will record those results and return the last n
rlm@400 117 results."
rlm@400 118 [n]
rlm@400 119 (let [last-n '()]
rlm@400 120 (fn [frame-num {:keys [touch proprioception muscles hearing]}]
rlm@400 121 (take n (cons [frame-num :stuff] last-n)))))
rlm@400 122
rlm@400 123
rlm@400 124 (defn wiggling?
rlm@400 125 "Generate a function which, when called each frame with the sensory
rlm@400 126 inputs of a worm, will determine whether the worm is wiggling."
rlm@400 127 [{:keys [touch proprioception muscles hearing]}]
rlm@400 128 (map (fn [f] (f)) proprioception
rlm@400 129
rlm@400 130
rlm@400 131 ))
rlm@400 132
rlm@400 133 (defn curling?
rlm@400 134 "Is the worm curled up?"
rlm@400 135 []
rlm@400 136 )
rlm@400 137
rlm@400 138 (defn resting?
rlm@400 139 "Is the worm on the ground in a neutral position?"
rlm@400 140 [])
rlm@400 141
rlm@400 142 (def standard-world-view
rlm@400 143 [(Vector3f. 4.207176, -3.7366982, 3.0816958)
rlm@400 144 (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771)])
rlm@400 145
rlm@400 146 (def worm-side-view
rlm@400 147 [(Vector3f. 4.207176, -3.7366982, 3.0816958)
rlm@400 148 (Quaternion. -0.11555642, 0.88188726, -0.2854942, -0.3569518)])
rlm@400 149
rlm@400 150 (def degenerate-worm-view
rlm@400 151 [(Vector3f. -0.0708936, -8.570261, 2.6487997)
rlm@400 152 (Quaternion. -2.318909E-4, 0.9985348, 0.053941682, 0.004291452)])
rlm@399 153
rlm@404 154 (defn worm-world-defaults []
rlm@404 155 (let [direct-control (worm-direct-control worm-muscle-labels 40)]
rlm@404 156 {:view worm-side-view
rlm@404 157 :motor-control (:motor-control direct-control)
rlm@404 158 :keybindings (:keybindings direct-control)
rlm@404 159 :record nil}))
rlm@404 160
rlm@404 161 (defn dir! [file]
rlm@404 162 (if (not (.exists file))
rlm@404 163 (.mkdir file))
rlm@404 164 file)
rlm@404 165
rlm@399 166 (defn worm-world
rlm@404 167 [& {:keys [record motor-control keybindings view] :as settings}]
rlm@404 168 (let [{:keys [record motor-control keybindings view]}
rlm@404 169 (merge (worm-world-defaults) settings)
rlm@404 170 worm (doto (worm-model) (body!))
rlm@404 171 touch (touch! worm)
rlm@404 172 prop (proprioception! worm)
rlm@404 173 muscles (movement! worm)
rlm@404 174
rlm@404 175 touch-display (view-touch)
rlm@404 176 prop-display (view-proprioception)
rlm@404 177 muscle-display (view-movement)
rlm@404 178
rlm@404 179 floor (box 10 1 10 :position (Vector3f. 0 -10 0)
rlm@404 180 :color ColorRGBA/Gray :mass 0)]
rlm@399 181
rlm@404 182 (world
rlm@404 183 (nodify [worm floor])
rlm@404 184 (merge standard-debug-controls keybindings)
rlm@404 185 (fn [world]
rlm@404 186 (position-camera world view)
rlm@404 187 (let [timer (IsoTimer. 60)]
rlm@404 188 (.setTimer world timer)
rlm@404 189 (display-dilated-time world timer))
rlm@404 190 (if record
rlm@404 191 (Capture/captureVideo
rlm@404 192 world
rlm@404 193 (dir! (File. record "main-view"))))
rlm@404 194 (speed-up world)
rlm@404 195 (light-up-everything world))
rlm@404 196 (fn [world tpf]
rlm@404 197 (let [strong! (motor-control muscles)]
rlm@404 198 (println strong!)
rlm@404 199 (muscle-display
rlm@404 200 strong!
rlm@404 201 (if record (dir! (File. record "muscle")))))
rlm@404 202 (prop-display
rlm@404 203 (prop)
rlm@404 204 (if record (dir! (File. record "proprio"))))
rlm@404 205 (touch-display
rlm@404 206 (map #(% (.getRootNode world)) touch)
rlm@404 207 (if record
rlm@404 208 (File. record "touch")))))))
rlm@399 209
rlm@404 210