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add worm segment to demonstrate self-organizing touch maps.
author Robert McIntyre <rlm@mit.edu>
date Tue, 18 Mar 2014 19:53:42 -0400
parents 40b67bb71430
children 3b4012b42611
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@406 12
rlm@406 13 (use 'clojure.pprint)
rlm@394 14
rlm@394 15 (dorun (cortex.import/mega-import-jme3))
rlm@394 16 (rlm.rlm-commands/help)
rlm@394 17
rlm@400 18 (load-bullet)
rlm@394 19
rlm@399 20 (def hand "Models/test-creature/hand.blend")
rlm@394 21
rlm@399 22 (defn worm-model []
rlm@399 23 (load-blender-model "Models/worm/worm.blend"))
rlm@394 24
rlm@400 25 (def output-base (File. "/home/r/proj/cortex/render/worm-learn/curl"))
rlm@394 26
rlm@397 27
rlm@399 28 (defn motor-control-program
rlm@399 29 "Create a function which will execute the motor script"
rlm@406 30 [muscle-labels
rlm@399 31 script]
rlm@399 32 (let [current-frame (atom -1)
rlm@399 33 keyed-script (group-by first script)
rlm@399 34 current-forces (atom {}) ]
rlm@399 35 (fn [effectors]
rlm@399 36 (let [indexed-effectors (vec effectors)]
rlm@399 37 (dorun
rlm@399 38 (for [[_ part force] (keyed-script (swap! current-frame inc))]
rlm@399 39 (swap! current-forces (fn [m] (assoc m part force)))))
rlm@399 40 (doall (map (fn [effector power]
rlm@399 41 (effector (int power)))
rlm@399 42 effectors
rlm@406 43 (map #(@current-forces % 0) muscle-labels)))))))
rlm@397 44
rlm@404 45 (defn worm-direct-control
rlm@404 46 "Create keybindings and a muscle control program that will enable
rlm@404 47 the user to control the worm via the keyboard."
rlm@404 48 [muscle-labels activation-strength]
rlm@404 49 (let [strengths (mapv (fn [_] (atom 0)) muscle-labels)
rlm@404 50 activator
rlm@404 51 (fn [n]
rlm@404 52 (fn [world pressed?]
rlm@404 53 (let [strength (if pressed? activation-strength 0)]
rlm@404 54 (swap! (nth strengths n) (constantly strength)))))
rlm@404 55 activators
rlm@404 56 (map activator (range (count muscle-labels)))
rlm@404 57 worm-keys
rlm@404 58 ["key-f" "key-r"
rlm@404 59 "key-g" "key-t"
rlm@404 60 "key-y" "key-h"
rlm@404 61 "key-j" "key-u"
rlm@404 62 "key-i" "key-k"
rlm@404 63 "key-o" "key-l"]]
rlm@404 64 {:motor-control
rlm@404 65 (fn [effectors]
rlm@404 66 (doall
rlm@404 67 (map (fn [strength effector]
rlm@404 68 (effector (deref strength)))
rlm@404 69 strengths effectors)))
rlm@404 70 :keybindings
rlm@404 71 ;; assume muscles are listed in pairs and map them to keys.
rlm@404 72 (zipmap worm-keys activators)}))
rlm@400 73
rlm@400 74 ;; These are scripts that direct the worm to move in two radically
rlm@400 75 ;; different patterns -- a sinusoidal wiggling motion, and a curling
rlm@400 76 ;; motions that causes the worm to form a circle.
rlm@400 77
rlm@400 78 (def curl-script
rlm@400 79 [[370 :d-up 40]
rlm@400 80 [600 :d-up 0]])
rlm@400 81
rlm@400 82 (def period 18)
rlm@400 83
rlm@404 84 (def worm-muscle-labels
rlm@399 85 [:base-up :base-down
rlm@404 86 :a-down :a-up
rlm@399 87 :b-up :b-down
rlm@404 88 :c-down :c-up
rlm@400 89 :d-up :d-down])
rlm@399 90
rlm@399 91 (defn gen-wiggle [[flexor extensor :as muscle-pair] time-base]
rlm@399 92 (let [period period
rlm@399 93 power 45]
rlm@399 94 [[time-base flexor power]
rlm@399 95 [(+ time-base period) flexor 0]
rlm@399 96 [(+ time-base period 1) extensor power]
rlm@399 97 [(+ time-base (+ (* 2 period) 2)) extensor 0]]))
rlm@399 98
rlm@399 99 (def wiggle-script
rlm@406 100 (mapcat gen-wiggle (repeat 4000 [:a-down :a-up])
rlm@406 101 (range 100 1000000 (+ 3 (* period 2)))))
rlm@399 102
rlm@399 103
rlm@400 104 ;; Normally, we'd use unsupervised/supervised machine learning to pick
rlm@400 105 ;; out the defining features of the different actions available to the
rlm@400 106 ;; worm. For this project, I am going to explicitely define functions
rlm@400 107 ;; that recognize curling and wiggling respectively. These functions
rlm@400 108 ;; are defined using all the information available from an embodied
rlm@400 109 ;; simulation of the action. Note how much easier they are to define
rlm@400 110 ;; than if I only had vision to work with. Things like scale/position
rlm@400 111 ;; invariance are complete non-issues here. This is the advantage of
rlm@400 112 ;; body-centered action recognition and what I hope to show with this
rlm@400 113 ;; thesis.
rlm@400 114
rlm@405 115
rlm@405 116 (defn straight?
rlm@405 117 "Is the worm straight?"
rlm@405 118 [experiences]
rlm@405 119 (every?
rlm@405 120 (fn [[_ _ bend]]
rlm@405 121 (< (Math/sin bend) 0.05))
rlm@405 122 (:proprioception (peek experiences))))
rlm@405 123
rlm@405 124 (defn curled?
rlm@405 125 "Is the worm curled up?"
rlm@405 126 [experiences]
rlm@405 127 (every?
rlm@405 128 (fn [[_ _ bend]]
rlm@405 129 (> (Math/sin bend) 0.64))
rlm@405 130 (:proprioception (peek experiences))))
rlm@405 131
rlm@405 132 (defn grand-circle?
rlm@405 133 "Does the worm form a majestic circle (one end touching the other)?"
rlm@405 134 [experiences]
rlm@405 135 (and (curled? experiences)
rlm@406 136 true)) ;; TODO: add code here.
rlm@405 137
rlm@405 138 (defn vector:last-n [v n]
rlm@405 139 (let [c (count v)]
rlm@405 140 (if (< c n) v
rlm@405 141 (subvec v (- c n) c))))
rlm@400 142
rlm@406 143 (defn touch-average [[coords touch]]
rlm@406 144 (/ (average (map first touch)) (average (map second touch))))
rlm@406 145
rlm@407 146 (def worm-segment-touch-bottom
rlm@407 147 [[8 15] [8 16] [8 17] [8 18] [8 19] [8 20] [8 21] [8 22] [9 15]
rlm@407 148 [9 16] [9 17] [9 18] [9 19] [9 20] [9 21] [9 22] [10 15] [10 16]
rlm@407 149 [10 17] [10 18] [10 19] [10 20] [10 21] [10 22] [11 15] [11 16]
rlm@407 150 [11 17] [11 18] [11 19] [11 20] [11 21] [11 22] [12 15] [12 16]
rlm@407 151 [12 17] [12 18] [12 19] [12 20] [12 21] [12 22] [13 15] [13 16]
rlm@407 152 [13 17] [13 18] [13 19] [13 20] [13 21] [13 22] [14 15] [14 16]
rlm@407 153 [14 17] [14 18] [14 19] [14 20] [14 21] [14 22]])
rlm@407 154
rlm@407 155
rlm@407 156
rlm@406 157 (defn floor-contact [[coords contact :as touch]]
rlm@406 158 (let [raw-average
rlm@406 159 (average
rlm@406 160 (map
rlm@406 161 first
rlm@406 162 (vals
rlm@406 163 (select-keys
rlm@406 164 (zipmap coords contact)
rlm@407 165 ))))]
rlm@406 166 (Math/abs (- 1. (* 10 raw-average)))))
rlm@406 167
rlm@406 168
rlm@400 169 (defn wiggling?
rlm@405 170 "Is the worm wiggling?"
rlm@405 171 [experiences]
rlm@406 172 (vector:last-n experiences 200)
rlm@405 173
rlm@406 174 )
rlm@400 175
rlm@400 176 (def standard-world-view
rlm@400 177 [(Vector3f. 4.207176, -3.7366982, 3.0816958)
rlm@400 178 (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771)])
rlm@400 179
rlm@400 180 (def worm-side-view
rlm@400 181 [(Vector3f. 4.207176, -3.7366982, 3.0816958)
rlm@400 182 (Quaternion. -0.11555642, 0.88188726, -0.2854942, -0.3569518)])
rlm@400 183
rlm@400 184 (def degenerate-worm-view
rlm@400 185 [(Vector3f. -0.0708936, -8.570261, 2.6487997)
rlm@400 186 (Quaternion. -2.318909E-4, 0.9985348, 0.053941682, 0.004291452)])
rlm@399 187
rlm@404 188 (defn worm-world-defaults []
rlm@404 189 (let [direct-control (worm-direct-control worm-muscle-labels 40)]
rlm@404 190 {:view worm-side-view
rlm@404 191 :motor-control (:motor-control direct-control)
rlm@404 192 :keybindings (:keybindings direct-control)
rlm@405 193 :record nil
rlm@407 194 :experiences nil
rlm@407 195 :worm-model worm-model
rlm@407 196 :end-frame nil}))
rlm@407 197
rlm@404 198
rlm@404 199 (defn dir! [file]
rlm@404 200 (if (not (.exists file))
rlm@404 201 (.mkdir file))
rlm@404 202 file)
rlm@405 203
rlm@405 204 (defn record-experience! [experiences data]
rlm@405 205 (swap! experiences #(conj % data)))
rlm@405 206
rlm@399 207 (defn worm-world
rlm@407 208 [& {:keys [record motor-control keybindings view experiences
rlm@407 209 worm-model end-frame] :as settings}]
rlm@407 210 (let [{:keys [record motor-control keybindings view experiences
rlm@407 211 worm-model end-frame]}
rlm@404 212 (merge (worm-world-defaults) settings)
rlm@404 213 worm (doto (worm-model) (body!))
rlm@404 214 touch (touch! worm)
rlm@404 215 prop (proprioception! worm)
rlm@404 216 muscles (movement! worm)
rlm@404 217
rlm@404 218 touch-display (view-touch)
rlm@404 219 prop-display (view-proprioception)
rlm@404 220 muscle-display (view-movement)
rlm@404 221
rlm@404 222 floor (box 10 1 10 :position (Vector3f. 0 -10 0)
rlm@407 223 :color ColorRGBA/Gray :mass 0)
rlm@407 224 timer (IsoTimer. 60)]
rlm@399 225
rlm@404 226 (world
rlm@404 227 (nodify [worm floor])
rlm@404 228 (merge standard-debug-controls keybindings)
rlm@404 229 (fn [world]
rlm@404 230 (position-camera world view)
rlm@407 231 (.setTimer world timer)
rlm@407 232 (display-dilated-time world timer)
rlm@404 233 (if record
rlm@404 234 (Capture/captureVideo
rlm@404 235 world
rlm@404 236 (dir! (File. record "main-view"))))
rlm@404 237 (speed-up world)
rlm@404 238 (light-up-everything world))
rlm@404 239 (fn [world tpf]
rlm@407 240 (if (> (.getTime timer) end-frame)
rlm@407 241 (.stop world))
rlm@405 242 (let [muscle-data (motor-control muscles)
rlm@405 243 proprioception-data (prop)
rlm@405 244 touch-data (map #(% (.getRootNode world)) touch)]
rlm@405 245 (when experiences
rlm@405 246 (record-experience!
rlm@405 247 experiences {:touch touch-data
rlm@405 248 :proprioception proprioception-data
rlm@405 249 :muscle muscle-data})
rlm@405 250 (if (curled? @experiences) (println "Curled"))
rlm@406 251 ;;(if (straight? @experiences) (println "Straight"))
rlm@407 252 ;; (println-repl
rlm@407 253 ;; (apply format "%.2f %.2f %.2f %.2f %.2f\n"
rlm@407 254 ;; (map floor-contact touch-data)))
rlm@407 255
rlm@405 256 )
rlm@404 257 (muscle-display
rlm@405 258 muscle-data
rlm@405 259 (if record (dir! (File. record "muscle"))))
rlm@405 260 (prop-display
rlm@405 261 proprioception-data
rlm@405 262 (if record (dir! (File. record "proprio"))))
rlm@405 263 (touch-display
rlm@405 264 touch-data
rlm@405 265 (if record (dir! (File. record "touch")))))))))
rlm@407 266
rlm@407 267
rlm@407 268 ;; A demonstration of self organiging touch maps through experience.
rlm@407 269
rlm@407 270 (def single-worm-segment-view
rlm@407 271 [(Vector3f. 2.0681207, -6.1406755, 1.6106138)
rlm@407 272 (Quaternion. -0.15558705, 0.843615, -0.3428654, -0.38281822)])
rlm@407 273
rlm@407 274 (def worm-single-segment-muscle-labels
rlm@407 275 [:lift-1 :lift-2 :roll-1 :roll-2])
rlm@407 276
rlm@407 277 (defn touch-kinesthetics []
rlm@407 278 [[170 :lift-1 40]
rlm@407 279 [190 :lift-1 20]
rlm@407 280 [206 :lift-1 0]
rlm@407 281
rlm@407 282 [400 :lift-2 40]
rlm@407 283 [410 :lift-2 0]
rlm@407 284
rlm@407 285 [570 :lift-2 40]
rlm@407 286 [590 :lift-2 20]
rlm@407 287 [606 :lift-2 0]
rlm@407 288
rlm@407 289 [800 :lift-1 40]
rlm@407 290 [809 :lift-1 0]
rlm@407 291
rlm@407 292 [900 :roll-2 40]
rlm@407 293 [905 :roll-2 20]
rlm@407 294 [910 :roll-2 0]
rlm@407 295
rlm@407 296 [1000 :roll-2 40]
rlm@407 297 [1005 :roll-2 20]
rlm@407 298 [1010 :roll-2 0]
rlm@407 299
rlm@407 300 [1100 :roll-2 40]
rlm@407 301 [1105 :roll-2 20]
rlm@407 302 [1110 :roll-2 0]
rlm@407 303 ])
rlm@407 304
rlm@407 305 (defn worm-segment-defaults []
rlm@407 306 (let [direct-control (worm-direct-control worm-muscle-labels 40)]
rlm@407 307 (merge (worm-world-defaults)
rlm@407 308 {:worm-model single-worm-segment
rlm@407 309 :view single-worm-segment-view
rlm@407 310 :motor-control
rlm@407 311 (motor-control-program
rlm@407 312 worm-single-segment-muscle-labels
rlm@407 313 (touch-kinesthetics))})))
rlm@407 314
rlm@407 315 (defn single-worm-segment []
rlm@407 316 (load-blender-model "Models/worm/worm-single-segment.blend"))
rlm@407 317
rlm@407 318
rlm@407 319 (defn pure-touch?
rlm@407 320 "This is worm specific code to determine if a large region of touch
rlm@407 321 sensors is either all on or all off."
rlm@407 322 [[coords touch :as touch-data]]
rlm@407 323 (= (set (map first touch)) #{(float 0.1) (float 0.0)}))