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on the warpath to the final stretch.
author Robert McIntyre <rlm@mit.edu>
date Sun, 16 Mar 2014 23:30:32 -0400
parents 85393ec986dc
children 939bcc5950b2
comparison
equal deleted inserted replaced
399:85393ec986dc 400:6ba908c1a0a9
12 12
13 13
14 (dorun (cortex.import/mega-import-jme3)) 14 (dorun (cortex.import/mega-import-jme3))
15 (rlm.rlm-commands/help) 15 (rlm.rlm-commands/help)
16 16
17 (load-bullet)
17 18
18 (def hand "Models/test-creature/hand.blend") 19 (def hand "Models/test-creature/hand.blend")
19 20
20 (defn worm-model [] 21 (defn worm-model []
21 (load-blender-model "Models/worm/worm.blend")) 22 (load-blender-model "Models/worm/worm.blend"))
22 23
23 (def output-base (File. "/home/r/proj/cortex/render/worm-learn/")) 24 (def output-base (File. "/home/r/proj/cortex/render/worm-learn/curl"))
24 25
25 26
26 (defn motor-control-program 27 (defn motor-control-program
27 "Create a function which will execute the motor script" 28 "Create a function which will execute the motor script"
28 [muscle-positions 29 [muscle-positions
38 (doall (map (fn [effector power] 39 (doall (map (fn [effector power]
39 (effector (int power))) 40 (effector (int power)))
40 effectors 41 effectors
41 (map #(@current-forces % 0) muscle-positions))))))) 42 (map #(@current-forces % 0) muscle-positions)))))))
42 43
44
45
46
47 ;; These are scripts that direct the worm to move in two radically
48 ;; different patterns -- a sinusoidal wiggling motion, and a curling
49 ;; motions that causes the worm to form a circle.
50
51 (def curl-script
52 [[370 :d-up 40]
53 [600 :d-up 0]])
54
55 (def period 18)
56
43 (def muscle-labels 57 (def muscle-labels
44 [:base-up :base-down 58 [:base-up :base-down
45 :a-up :a-down 59 :a-up :a-down
46 :b-up :b-down 60 :b-up :b-down
47 :c-up :c-down 61 :c-up :c-down
48 :d-up :d-down 62 :d-up :d-down])
49 ])
50
51 (def curl-script
52 [[370 :d-up 20]
53 [390 :d-up 0]])
54
55 (def period 18)
56 63
57 (defn gen-wiggle [[flexor extensor :as muscle-pair] time-base] 64 (defn gen-wiggle [[flexor extensor :as muscle-pair] time-base]
58 (let [period period 65 (let [period period
59 power 45] 66 power 45]
60 [[time-base flexor power] 67 [[time-base flexor power]
61 [(+ time-base period) flexor 0] 68 [(+ time-base period) flexor 0]
62 [(+ time-base period 1) extensor power] 69 [(+ time-base period 1) extensor power]
63 [(+ time-base (+ (* 2 period) 2)) extensor 0]])) 70 [(+ time-base (+ (* 2 period) 2)) extensor 0]]))
64 71
65 (def wiggle-script 72 (def wiggle-script
66 (mapcat gen-wiggle [[:d-up :d-down]
67 [:c-up :c-down]
68 [:b-up :b-down]
69 [:a-up :a-down]] (range 100 1000 12)))
70
71 (def wiggle-script
72 (mapcat gen-wiggle (repeat 40 [:a-down :a-up]) 73 (mapcat gen-wiggle (repeat 40 [:a-down :a-up])
73 (range 100 10000 (+ 3 (* period 2))))) 74 (range 100 10000 (+ 3 (* period 2)))))
74 75
75 76
77 ;; Normally, we'd use unsupervised/supervised machine learning to pick
78 ;; out the defining features of the different actions available to the
79 ;; worm. For this project, I am going to explicitely define functions
80 ;; that recognize curling and wiggling respectively. These functions
81 ;; are defined using all the information available from an embodied
82 ;; simulation of the action. Note how much easier they are to define
83 ;; than if I only had vision to work with. Things like scale/position
84 ;; invariance are complete non-issues here. This is the advantage of
85 ;; body-centered action recognition and what I hope to show with this
86 ;; thesis.
87
88 (defn last-nth
89 "Create function that will, when called each frame with the senses
90 of a creature, will record those results and return the last n
91 results."
92 [n]
93 (let [last-n '()]
94 (fn [frame-num {:keys [touch proprioception muscles hearing]}]
95 (take n (cons [frame-num :stuff] last-n)))))
96
97
98 (defn wiggling?
99 "Generate a function which, when called each frame with the sensory
100 inputs of a worm, will determine whether the worm is wiggling."
101 [{:keys [touch proprioception muscles hearing]}]
102 (map (fn [f] (f)) proprioception
103
104
105 ))
106
107 (defn curling?
108 "Is the worm curled up?"
109 []
110 )
111
112 (defn resting?
113 "Is the worm on the ground in a neutral position?"
114 [])
115
116 (def standard-world-view
117 [(Vector3f. 4.207176, -3.7366982, 3.0816958)
118 (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771)])
119
120 (def worm-side-view
121 [(Vector3f. 4.207176, -3.7366982, 3.0816958)
122 (Quaternion. -0.11555642, 0.88188726, -0.2854942, -0.3569518)])
123
124 (def degenerate-worm-view
125 [(Vector3f. -0.0708936, -8.570261, 2.6487997)
126 (Quaternion. -2.318909E-4, 0.9985348, 0.053941682, 0.004291452)])
76 127
77 (defn worm-world 128 (defn worm-world
78 "" 129 ""
79 ([] (worm-world curl-script)) 130 ([] (worm-world curl-script))
80 ([motion-script] 131 ([motion-script]
81 (let [record? false 132 (let [record? false ;;true
82 worm (doto (worm-model) (body!)) 133 worm (doto (worm-model) (body!))
83 touch '();;(touch! worm) 134 touch (touch! worm)
84 prop (proprioception! worm) 135 prop (proprioception! worm)
85 muscles (movement! worm) 136 muscles (movement! worm)
86 137
87 touch-display (view-touch) 138 touch-display (view-touch)
88 prop-display (view-proprioception) 139 prop-display (view-proprioception)
97 (nodify [worm floor]) 148 (nodify [worm floor])
98 standard-debug-controls 149 standard-debug-controls
99 150
100 (fn [world] 151 (fn [world]
101 ;; (set-gravity world Vector3f/ZERO) 152 ;; (set-gravity world Vector3f/ZERO)
102 ;; (position-camera 153 (position-camera world degenerate-worm-view)
103 ;; world (Vector3f. 4.207176, -3.7366982, 3.0816958)
104 ;; (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771))
105
106
107
108 (position-camera
109 world (Vector3f. 4.207176, -3.7366982, 3.0816958)
110 (Quaternion. -0.11555642, 0.88188726, -0.2854942, -0.3569518))
111
112
113
114
115 (let [timer (IsoTimer. 60)] 154 (let [timer (IsoTimer. 60)]
116 (.setTimer world timer) 155 (.setTimer world timer)
117 (display-dilated-time world timer)) 156 (display-dilated-time world timer))
118 (if record? 157 (if record?
119 (Capture/captureVideo 158 (Capture/captureVideo
120 world 159 world
121 (File. output-base "main-view"))) 160 (File. output-base "main-view")))
122 (speed-up world) 161 (speed-up world)
123 (light-up-everything world)) 162 (light-up-everything world))
124
125 (fn [world tpf] 163 (fn [world tpf]
126 (muscle-display 164 (muscle-display
127 (control-script muscles) 165 (control-script muscles)
128 (if record? (File. output-base "muscle"))) 166 (if record? (File. output-base "muscle")))
129 (prop-display 167 (prop-display