cortex: org/proprioception.org comparison

comparison org/proprioception.org @ 266:bee5145ce463

Merged Robert's proprioception with Dylan's vision.

author	Dylan Holmes <ocsenave@gmail.com>
date	Mon, 13 Feb 2012 21:53:54 -0600
parents	7cac5ef852e3
children	c39b8b29a79e

comparison

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-:e57d8c52f12f
+:bee5145ce463
 #+description: proprioception for simulated creatures
 #+keywords: simulation, jMonkeyEngine3, clojure
 #+SETUPFILE: ../../aurellem/org/setup.org
 #+INCLUDE: ../../aurellem/org/level-0.org
-#+name: proprioception
+* Proprioception
-#+begin_src clojure
-(ns cortex.proprioception
+Close your eyes, and touch your nose with your right index finger. How
-"Simulate the sense of proprioception (ability to detect the
+did you do it? You could not see your hand, and neither your hand nor
-relative positions of body parts with repsect to other body parts)
+your nose could use the sense of touch to guide the path of your hand.
-in jMonkeyEngine3. Reads specially prepared blender files to
+There are no sound cues, and Taste and Smell certainly don't provide
-automatically generate proprioceptive senses."
+any help. You know where your hand is without your other senses
-(:use (cortex world util sense body))
+because of Proprioception.
-(:use clojure.contrib.def)
-(:import com.jme3.scene.Node)
+Humans can sometimes loose this sense through viral infections or
-(:import java.awt.image.BufferedImage)
+damage to the spinal cord or brain, and when they do, they loose the
-(:import (com.jme3.math Vector3f Quaternion)))
+ability to control their own bodies without looking directly at the
+parts they want to move. In [[http://en.wikipedia.org/wiki/The_Man_Who_Mistook_His_Wife_for_a_Hat][The Man Who Mistook His Wife for a Hat]],
+a woman named Christina looses this sense and has to learn how to move
+by carefully watching her arms and legs. She describes proprioception
+as the "eyes of the body, the way the body sees itself".
+Proprioception in humans is mediated by [[http://en.wikipedia.org/wiki/Articular_capsule][joint capsules]], [[http://en.wikipedia.org/wiki/Muscle_spindle][muscle
+spindles]], and the [[http://en.wikipedia.org/wiki/Golgi_tendon_organ][Golgi tendon organs]]. These measure the relative
+positions of each pody part by monitoring muscle strain and length.
+It's clear that this is a vital sense for fulid, graceful
+movement. It's also particurally easy to implement in jMonkeyEngine.
+My simulated proprioception calculates the relative angles of each
+joint from the rest position defined in the blender file. This
+simulates the muscle-spindles and joint capsules.  I will deal with
+Golgi tendon organs, which calculate muscle strain, in the [[./movement.org][next post]].
+* Helper Functions
+=(absolute-angle)= calculates the angle between two vectors, relative to a
+third axis vector. This angle is the number of radians you have to
+move counterclockwise around the axis vector to get from the first to
+the second vector. It is not commutative like a normal dot-product
+angle is.
+#+name: helpers
+#+begin_src clojure
+(in-ns 'cortex.proprioception)
 (defn right-handed?
 "true iff the three vectors form a right handed coordinate
 system. The three vectors do not have to be normalized or
 orthogonal."
 [vec1 vec2 vec3]
 (< 0 (.dot (.cross vec1 vec2) vec3)))
 (defn absolute-angle
-"The angle between 'vec1 and 'vec2. Positive if the angle to get
+"The angle between 'vec1 and 'vec2 around 'axis. In the range
-from 'vec1 to 'vec2 is counterclockwise around 'axis, and negative
+[0 (* 2 Math/PI)]."
-otherwise."
 [vec1 vec2 axis]
 (let [angle (.angleBetween vec1 vec2)]
 (if (right-handed? vec1 vec2 axis)
 angle (- (* 2 Math/PI) angle))))
+#+end_src
-(defn proprioception-fn
+#+begin_src clojure :exports both
+(in-ns 'cortex.proprioception)
+(absolute-angle  Vector3f/UNIT_X Vector3f/UNIT_Y Vector3f/UNIT_Z)
+#+end_src
+#+results:
+: 1.5707964
+#+begin_src clojure :exports both
+(in-ns 'cortex.proprioception)
+(absolute-angle
+Vector3f/UNIT_X (.mult Vector3f/UNIT_Y (float -1)) Vector3f/UNIT_Z)
+#+end_src
+#+results:
+: 4.7123889366733
+* Proprioception Kernel
+Given a joint, =(proprioception-kernel)= produces a function that
+calculates the euler angles between the the objects the joint
+connects.
+#+name: proprioception
+#+begin_src clojure
+(defn proprioception-kernel
 "Returns a function which returns proprioceptive sensory data when
 called inside a running simulation."
 [#^Node parts #^Node joint]
 (let [[obj-a obj-b] (joint-targets parts joint)
 joint-rot (.getWorldRotation joint)
 x0 (.mult joint-rot Vector3f/UNIT_X)
 y0 (.mult joint-rot Vector3f/UNIT_Y)
 z0 (.mult joint-rot Vector3f/UNIT_Z)]
-(println-repl "x:" x0)
-(println-repl "y:" y0)
-(println-repl "z:" z0)
-(println-repl "init-a:" (.getWorldRotation obj-a))
-(println-repl "init-b:" (.getWorldRotation obj-b))
 (fn []
 (let [rot-a (.clone (.getWorldRotation obj-a))
 rot-b (.clone (.getWorldRotation obj-b))
 x (.mult rot-a x0)
 y (.mult rot-a y0)
 sequence of functions, one for each child of the \"joints\" node in
 the creature, which each report proprioceptive information about
 that joint."
 [#^Node creature]
 ;; extract the body's joints
-(let [senses (map (partial proprioception-fn creature)
+(let [senses (map (partial proprioception-kernel creature)
 (joints creature))]
 (fn []
 (map #(%) senses))))
+#+end_src
+=(proprioception!)= maps =(proprioception-kernel)= across all the
+joints of the creature. It uses the same list of joints that
+=(cortex.body/joints)= uses.
+* Visualizing Proprioception
+Proprioception has the lowest bandwidth of all the senses so far, and
+it doesn't lend itself as readily to visual representation like
+vision, hearing, or touch. This visualization code creates a "guage"
+to view each of the three relative angles along a circle.
+#+name: visualize
+#+begin_src clojure
+(in-ns 'cortex.proprioception)
 (defn draw-sprite [image sprite x y color ]
 (dorun
 (for [[u v] sprite]
 (.setRGB image (+ u x) (+ v y) color))))
 (defn view-angle
 "create a debug view of an angle"
 [color]
 (let [image (BufferedImage. 50 50 BufferedImage/TYPE_INT_RGB)
 (+ 25 (int (* -20 (Math/sin angle))))]]
 (draw-sprite image sprite (@previous 0) (@previous 1) 0x000000)
 (draw-sprite image sprite (position 0) (position 1) color)
 (reset! previous position))
 image))))
 (defn proprioception-display-kernel
 "Display proprioception angles in a BufferedImage"
 [[h p r]]
 (let [image (BufferedImage. 50 50 BufferedImage/TYPE_INT_RGB)
 (defn view-proprioception
 "Creates a function which accepts a list of proprioceptive data and
 display each element of the list to the screen as an image."
 []
 (view-sense proprioception-display-kernel))
+#+end_src
+* Proprioception Test
-#+end_src
+This test does not use the worm, but instead uses two bars, bound
+together by a point2point joint. One bar is fixed, and I control the
-#+name: test-body
+other bar from the keyboard.
-#+begin_src clojure
+#+name: test-proprioception
+#+begin_src clojure
+(in-ns 'cortex.test.proprioception)
 (defn test-proprioception
 "Testing proprioception:
 You should see two foating bars, and a printout of pitch, yaw, and
 roll. Pressing key-r/key-t should move the blue bar up and down and
 change only the value of pitch. key-f/key-g moves it side to side
 and changes yaw. key-v/key-b will spin the blue segment clockwise
 and counterclockwise, and only affect roll."
-[]
+([] (test-proprioception false))
-(let [hand    (box 0.2 1 0.2 :position (Vector3f. 0 0 0)
+([record?]
-:mass 0 :color ColorRGBA/Green :name "hand")
+(let [hand    (box 0.2 1 0.2 :position (Vector3f. 0 0 0)
-finger (box 0.2 1 0.2 :position (Vector3f. 0 2.4 0)
+:mass 0 :color ColorRGBA/Gray :name "hand")
-:mass 1 :color ColorRGBA/Red :name "finger")
+finger (box 0.2 1 0.2 :position (Vector3f. 0 2.4 0)
-joint-node (box 0.1 0.05 0.05 :color ColorRGBA/Yellow
+:mass 1
-:position (Vector3f. 0 1.2 0)
+:color
-:rotation (doto (Quaternion.)
+(ColorRGBA. (/ 184 255) (/ 127 255) (/ 201 255) 1)
-(.fromAngleAxis
+:name "finger")
-(/ Math/PI 2)
+joint-node (box 0.1 0.05 0.05 :color ColorRGBA/Yellow
-(Vector3f. 0 0 1)))
+:position (Vector3f. 0 1.2 0)
-:physical? false)
+:rotation (doto (Quaternion.)
-joint (join-at-point hand finger (Vector3f. 0 1.2 0 ))
+(.fromAngleAxis
-creature (nodify [hand finger joint-node])
+(/ Math/PI 2)
-finger-control (.getControl finger RigidBodyControl)
+(Vector3f. 0 0 1)))
-hand-control (.getControl hand RigidBodyControl)]
+:physical? false)
+creature (nodify [hand finger joint-node])
+finger-control (.getControl finger RigidBodyControl)
-(let
+hand-control (.getControl hand RigidBodyControl)
-;; *******************************************
+joint (joint-dispatch {:type :point} hand-control finger-control
+(Vector3f. 0 1.2  0)
-[floor   (box 10 10 10 :position (Vector3f. 0 -15 0)
+(Vector3f. 0 -1.2 0) nil)
-:mass 0 :color ColorRGBA/Gray)
+root (nodify [creature])
-root (nodify [creature floor])
+prop (proprioception-kernel creature joint-node)
-prop (joint-proprioception creature joint-node)
+prop-view (view-proprioception)]
-prop-view (proprioception-debug-window)
+(.setCollisionGroup
+(.getControl hand RigidBodyControl)
-controls
+PhysicsCollisionObject/COLLISION_GROUP_NONE)
-(merge standard-debug-controls
+(apply
-{"key-o"
+world
-(fn [_ _] (.setEnabled finger-control true))
+(with-movement
-"key-p"
+finger
-(fn [_ _] (.setEnabled finger-control false))
+["key-r" "key-t" "key-f" "key-g" "key-v" "key-b"]
-"key-k"
+[1 1 10 10 10 10]
-(fn [_ _] (.setEnabled hand-control true))
+[root
-"key-l"
+standard-debug-controls
-(fn [_ _] (.setEnabled hand-control false))
+(fn [world]
-"key-i"
+(if record?
-(fn [world _] (set-gravity world (Vector3f. 0 0 0)))
+(Capture/captureVideo
-"key-period"
+world
-(fn [world _]
+(File. "/home/r/proj/cortex/render/proprio/main-view")))
-(.setEnabled finger-control false)
+(.setTimer world (com.aurellem.capture.RatchetTimer. 60))
-(.setEnabled hand-control false)
+(set-gravity world (Vector3f. 0 0 0))
-(.rotate creature (doto (Quaternion.)
+(enable-debug world)
-(.fromAngleAxis
+(light-up-everything world))
-(float (/ Math/PI 15))
+(fn [_ _]
-(Vector3f. 0 0 -1))))
+(prop-view
+(list (prop))
-(.setEnabled finger-control true)
+(if record?
-(.setEnabled hand-control true)
+(File. "/home/r/proj/cortex/render/proprio/proprio"))))])))))
-(set-gravity world (Vector3f. 0 0 0))
+#+end_src
-)
+#+results: test-proprioception
+: #'cortex.test.proprioception/test-proprioception
-}
-)
+* Video of Proprioception
-]
+#+begin_html
-(comment
+<div class="figure">
-(.setCollisionGroup
+<center>
-(.getControl hand RigidBodyControl)
+<video controls="controls" width="550">
-PhysicsCollisionObject/COLLISION_GROUP_NONE)
+<source src="../video/test-proprioception.ogg" type="video/ogg"
-)
+	  preload="none" poster="../images/aurellem-1280x480.png" />
-(apply
+</video>
-world
+</center>
-(with-movement
+<p>Proprioception in a simple creature. The proprioceptive readout is
-hand
+in the upper left corner of the screen.</p>
-["key-y" "key-u" "key-h" "key-j" "key-n" "key-m"]
+</div>
-[10 10 10 10 1 1]
+#+end_html
-(with-movement
-finger
+** Generating the Proprioception Video
-["key-r" "key-t" "key-f" "key-g" "key-v" "key-b"]
+#+name: magick6
-[1 1 10 10 10 10]
+#+begin_src clojure
-[root
+(ns cortex.video.magick6
-controls
+(:import java.io.File)
-(fn [world]
+(:use clojure.contrib.shell-out))
-(.setTimer world (com.aurellem.capture.RatchetTimer. 60))
-(set-gravity world (Vector3f. 0 0 0))
+(defn images [path]
-(light-up-everything world))
+(sort (rest (file-seq (File. path)))))
-(fn [_ _] (prop-view (list (prop))))]))))))
+(def base "/home/r/proj/cortex/render/proprio/")
-#+end_src
+(defn pics [file]
+(images (str base file)))
+(defn combine-images []
+(let [main-view (pics "main-view")
+proprioception (pics "proprio/0")
+targets (map
+#(File. (str base "out/" (format "%07d.png" %)))
+(range 0 (count main-view)))]
+(dorun
+(pmap
+(comp
+(fn [[ main-view proprioception target]]
+(println target)
+(sh "convert"
+main-view
+proprioception "-geometry" "+20+20" "-composite"
+target))
+(fn [& args] (map #(.getCanonicalPath %) args)))
+main-view proprioception targets))))
+#+end_src
+#+begin_src sh :results silent
+cd ~/proj/cortex/render/proprio
+ffmpeg -r 60 -i out/%07d.png -b:v 9000k -c:v libtheora \
+test-proprioception.ogg
+#+end_src
+* Headers
+#+name: proprioception-header
+#+begin_src clojure
+(ns cortex.proprioception
+"Simulate the sense of proprioception (ability to detect the
+relative positions of body parts with repsect to other body parts)
+in jMonkeyEngine3. Reads specially prepared blender files to
+automatically generate proprioceptive senses."
+(:use (cortex world util sense body))
+(:use clojure.contrib.def)
+(:import com.jme3.scene.Node)
+(:import java.awt.image.BufferedImage)
+(:import (com.jme3.math Vector3f Quaternion)))
+#+end_src
+#+name: test-proprioception-header
+#+begin_src clojure
+(ns cortex.test.proprioception
+(:import (com.aurellem.capture Capture RatchetTimer))
+(:use (cortex util world proprioception body))
+(:import java.io.File))
+(cortex.import/mega-import-jme3)
+#+end_src
+* Source Listing
+- [[../src/cortex/proprioception.clj][cortex.proprioception]]
+- [[../src/cortex/test/touch.clj][cortex.test.proprioception]]
+- [[../src/cortex/video/magick6.clj][cortex.video.magick6]]
+#+html: <ul> <li> <a href="../org/proprioception.org">This org file</a> </li> </ul>
+- [[http://hg.bortreb.com ][source-repository]]
+* Next
+Next time, I'll give the Worm the power to [[./movement.org][move on it's own]].
 * COMMENT generate source
 #+begin_src clojure :tangle ../src/cortex/proprioception.clj
+<<proprioception-header>>
+<<helpers>>
 <<proprioception>>
-#+end_src
+<<visualize>>
+#+end_src
+#+begin_src clojure :tangle ../src/cortex/test/proprioception.clj
+<<test-proprioception-header>>
+<<test-proprioception>>
+#+end_src
+#+begin_src clojure :tangle ../src/cortex/video/magick6.clj
+<<magick6>>
+#+end_src

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comparison org/proprioception.org @ 266:bee5145ce463