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refactor, fix null pointer bug.
author Robert McIntyre <rlm@mit.edu>
date Tue, 18 Mar 2014 22:29:03 -0400
parents 3b4012b42611
children a331d5ff73e0
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@408 5 hearing touch vision proprioception movement
rlm@408 6 test))
rlm@394 7 (:import (com.jme3.math ColorRGBA Vector3f))
rlm@394 8 (:import java.io.File)
rlm@394 9 (:import com.jme3.audio.AudioNode)
rlm@397 10 (:import com.aurellem.capture.RatchetTimer)
rlm@397 11 (:import (com.aurellem.capture Capture IsoTimer))
rlm@397 12 (:import (com.jme3.math Vector3f ColorRGBA)))
rlm@406 13
rlm@406 14 (use 'clojure.pprint)
rlm@408 15 (use 'clojure.set)
rlm@394 16 (dorun (cortex.import/mega-import-jme3))
rlm@394 17 (rlm.rlm-commands/help)
rlm@394 18
rlm@400 19 (load-bullet)
rlm@394 20
rlm@399 21 (def hand "Models/test-creature/hand.blend")
rlm@394 22
rlm@399 23 (defn worm-model []
rlm@399 24 (load-blender-model "Models/worm/worm.blend"))
rlm@394 25
rlm@400 26 (def output-base (File. "/home/r/proj/cortex/render/worm-learn/curl"))
rlm@394 27
rlm@397 28
rlm@399 29 (defn motor-control-program
rlm@399 30 "Create a function which will execute the motor script"
rlm@406 31 [muscle-labels
rlm@399 32 script]
rlm@399 33 (let [current-frame (atom -1)
rlm@399 34 keyed-script (group-by first script)
rlm@399 35 current-forces (atom {}) ]
rlm@399 36 (fn [effectors]
rlm@399 37 (let [indexed-effectors (vec effectors)]
rlm@399 38 (dorun
rlm@399 39 (for [[_ part force] (keyed-script (swap! current-frame inc))]
rlm@399 40 (swap! current-forces (fn [m] (assoc m part force)))))
rlm@399 41 (doall (map (fn [effector power]
rlm@399 42 (effector (int power)))
rlm@399 43 effectors
rlm@406 44 (map #(@current-forces % 0) muscle-labels)))))))
rlm@397 45
rlm@404 46 (defn worm-direct-control
rlm@404 47 "Create keybindings and a muscle control program that will enable
rlm@404 48 the user to control the worm via the keyboard."
rlm@404 49 [muscle-labels activation-strength]
rlm@404 50 (let [strengths (mapv (fn [_] (atom 0)) muscle-labels)
rlm@404 51 activator
rlm@404 52 (fn [n]
rlm@404 53 (fn [world pressed?]
rlm@404 54 (let [strength (if pressed? activation-strength 0)]
rlm@404 55 (swap! (nth strengths n) (constantly strength)))))
rlm@404 56 activators
rlm@404 57 (map activator (range (count muscle-labels)))
rlm@404 58 worm-keys
rlm@404 59 ["key-f" "key-r"
rlm@404 60 "key-g" "key-t"
rlm@404 61 "key-y" "key-h"
rlm@404 62 "key-j" "key-u"
rlm@404 63 "key-i" "key-k"
rlm@404 64 "key-o" "key-l"]]
rlm@404 65 {:motor-control
rlm@404 66 (fn [effectors]
rlm@404 67 (doall
rlm@404 68 (map (fn [strength effector]
rlm@404 69 (effector (deref strength)))
rlm@404 70 strengths effectors)))
rlm@404 71 :keybindings
rlm@404 72 ;; assume muscles are listed in pairs and map them to keys.
rlm@404 73 (zipmap worm-keys activators)}))
rlm@400 74
rlm@400 75 ;; These are scripts that direct the worm to move in two radically
rlm@400 76 ;; different patterns -- a sinusoidal wiggling motion, and a curling
rlm@400 77 ;; motions that causes the worm to form a circle.
rlm@400 78
rlm@400 79 (def curl-script
rlm@400 80 [[370 :d-up 40]
rlm@400 81 [600 :d-up 0]])
rlm@400 82
rlm@400 83 (def period 18)
rlm@400 84
rlm@404 85 (def worm-muscle-labels
rlm@399 86 [:base-up :base-down
rlm@404 87 :a-down :a-up
rlm@399 88 :b-up :b-down
rlm@404 89 :c-down :c-up
rlm@400 90 :d-up :d-down])
rlm@399 91
rlm@399 92 (defn gen-wiggle [[flexor extensor :as muscle-pair] time-base]
rlm@399 93 (let [period period
rlm@399 94 power 45]
rlm@399 95 [[time-base flexor power]
rlm@399 96 [(+ time-base period) flexor 0]
rlm@399 97 [(+ time-base period 1) extensor power]
rlm@399 98 [(+ time-base (+ (* 2 period) 2)) extensor 0]]))
rlm@399 99
rlm@399 100 (def wiggle-script
rlm@406 101 (mapcat gen-wiggle (repeat 4000 [:a-down :a-up])
rlm@406 102 (range 100 1000000 (+ 3 (* period 2)))))
rlm@399 103
rlm@399 104
rlm@400 105 ;; Normally, we'd use unsupervised/supervised machine learning to pick
rlm@400 106 ;; out the defining features of the different actions available to the
rlm@400 107 ;; worm. For this project, I am going to explicitely define functions
rlm@400 108 ;; that recognize curling and wiggling respectively. These functions
rlm@400 109 ;; are defined using all the information available from an embodied
rlm@400 110 ;; simulation of the action. Note how much easier they are to define
rlm@400 111 ;; than if I only had vision to work with. Things like scale/position
rlm@400 112 ;; invariance are complete non-issues here. This is the advantage of
rlm@400 113 ;; body-centered action recognition and what I hope to show with this
rlm@400 114 ;; thesis.
rlm@400 115
rlm@405 116
rlm@405 117 (defn straight?
rlm@405 118 "Is the worm straight?"
rlm@405 119 [experiences]
rlm@405 120 (every?
rlm@405 121 (fn [[_ _ bend]]
rlm@405 122 (< (Math/sin bend) 0.05))
rlm@405 123 (:proprioception (peek experiences))))
rlm@405 124
rlm@405 125 (defn curled?
rlm@405 126 "Is the worm curled up?"
rlm@405 127 [experiences]
rlm@405 128 (every?
rlm@405 129 (fn [[_ _ bend]]
rlm@405 130 (> (Math/sin bend) 0.64))
rlm@405 131 (:proprioception (peek experiences))))
rlm@405 132
rlm@405 133 (defn grand-circle?
rlm@405 134 "Does the worm form a majestic circle (one end touching the other)?"
rlm@405 135 [experiences]
rlm@405 136 (and (curled? experiences)
rlm@406 137 true)) ;; TODO: add code here.
rlm@405 138
rlm@405 139 (defn vector:last-n [v n]
rlm@405 140 (let [c (count v)]
rlm@405 141 (if (< c n) v
rlm@405 142 (subvec v (- c n) c))))
rlm@400 143
rlm@406 144 (defn touch-average [[coords touch]]
rlm@406 145 (/ (average (map first touch)) (average (map second touch))))
rlm@406 146
rlm@407 147 (def worm-segment-touch-bottom
rlm@407 148 [[8 15] [8 16] [8 17] [8 18] [8 19] [8 20] [8 21] [8 22] [9 15]
rlm@407 149 [9 16] [9 17] [9 18] [9 19] [9 20] [9 21] [9 22] [10 15] [10 16]
rlm@407 150 [10 17] [10 18] [10 19] [10 20] [10 21] [10 22] [11 15] [11 16]
rlm@407 151 [11 17] [11 18] [11 19] [11 20] [11 21] [11 22] [12 15] [12 16]
rlm@407 152 [12 17] [12 18] [12 19] [12 20] [12 21] [12 22] [13 15] [13 16]
rlm@407 153 [13 17] [13 18] [13 19] [13 20] [13 21] [13 22] [14 15] [14 16]
rlm@407 154 [14 17] [14 18] [14 19] [14 20] [14 21] [14 22]])
rlm@407 155
rlm@407 156
rlm@407 157
rlm@406 158 (defn floor-contact [[coords contact :as touch]]
rlm@406 159 (let [raw-average
rlm@406 160 (average
rlm@406 161 (map
rlm@406 162 first
rlm@406 163 (vals
rlm@406 164 (select-keys
rlm@406 165 (zipmap coords contact)
rlm@407 166 ))))]
rlm@406 167 (Math/abs (- 1. (* 10 raw-average)))))
rlm@406 168
rlm@406 169
rlm@400 170 (defn wiggling?
rlm@405 171 "Is the worm wiggling?"
rlm@405 172 [experiences]
rlm@406 173 (vector:last-n experiences 200)
rlm@405 174
rlm@406 175 )
rlm@400 176
rlm@400 177 (def standard-world-view
rlm@400 178 [(Vector3f. 4.207176, -3.7366982, 3.0816958)
rlm@400 179 (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771)])
rlm@400 180
rlm@400 181 (def worm-side-view
rlm@400 182 [(Vector3f. 4.207176, -3.7366982, 3.0816958)
rlm@400 183 (Quaternion. -0.11555642, 0.88188726, -0.2854942, -0.3569518)])
rlm@400 184
rlm@400 185 (def degenerate-worm-view
rlm@400 186 [(Vector3f. -0.0708936, -8.570261, 2.6487997)
rlm@400 187 (Quaternion. -2.318909E-4, 0.9985348, 0.053941682, 0.004291452)])
rlm@399 188
rlm@404 189 (defn worm-world-defaults []
rlm@404 190 (let [direct-control (worm-direct-control worm-muscle-labels 40)]
rlm@404 191 {:view worm-side-view
rlm@404 192 :motor-control (:motor-control direct-control)
rlm@404 193 :keybindings (:keybindings direct-control)
rlm@405 194 :record nil
rlm@407 195 :experiences nil
rlm@407 196 :worm-model worm-model
rlm@407 197 :end-frame nil}))
rlm@407 198
rlm@404 199 (defn dir! [file]
rlm@410 200 (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@410 240 (if (and end-frame (> (.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@408 250 ;;(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