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comparison org/self_organizing_touch.clj @ 410:e6a7e80f885a

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refactor, fix null pointer bug.
author Robert McIntyre <rlm@mit.edu>
date Tue, 18 Mar 2014 22:29:03 -0400
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children a331d5ff73e0
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409:ea524e4d8f8d 410:e6a7e80f885a
1 (ns org.aurellem.self-organizing-touch
2 "Using free play to automatically organize touch perception into regions."
3 {:author "Robert McIntyre"}
4 (:use (cortex world util import body sense
5 hearing touch vision proprioception movement
6 test))
7 (:use [clojure set pprint])
8 (:import (com.jme3.math ColorRGBA Vector3f))
9 (:import java.io.File)
10 (:import com.jme3.audio.AudioNode)
11 (:import com.aurellem.capture.RatchetTimer)
12 (:import (com.aurellem.capture Capture IsoTimer))
13 (:import (com.jme3.math Vector3f ColorRGBA)))
14
15 (use 'org.aurellem.worm-learn)
16 (dorun (cortex.import/mega-import-jme3))
17
18 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
19 ;; A demonstration of self organiging touch maps through experience. ;
20 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
21
22 (def single-worm-segment-view
23 [(Vector3f. 2.0681207, -6.1406755, 1.6106138)
24 (Quaternion. -0.15558705, 0.843615, -0.3428654, -0.38281822)])
25
26 (def worm-single-segment-muscle-labels
27 [:lift-1 :lift-2 :roll-1 :roll-2])
28
29 (defn touch-kinesthetics []
30 [[170 :lift-1 40]
31 [190 :lift-1 20]
32 [206 :lift-1 0]
33
34 [400 :lift-2 40]
35 [410 :lift-2 0]
36
37 [570 :lift-2 40]
38 [590 :lift-2 20]
39 [606 :lift-2 0]
40
41 [800 :lift-1 30]
42 [809 :lift-1 0]
43
44 [900 :roll-2 40]
45 [905 :roll-2 20]
46 [910 :roll-2 0]
47
48 [1000 :roll-2 40]
49 [1005 :roll-2 20]
50 [1010 :roll-2 0]
51
52 [1100 :roll-2 40]
53 [1105 :roll-2 20]
54 [1110 :roll-2 0]
55 ])
56
57 (defn single-worm-segment []
58 (load-blender-model "Models/worm/worm-single-segment.blend"))
59
60 (defn worm-segment-defaults []
61 (let [direct-control (worm-direct-control worm-muscle-labels 40)]
62 (merge (worm-world-defaults)
63 {:worm-model single-worm-segment
64 :view single-worm-segment-view
65 :motor-control
66 (motor-control-program
67 worm-single-segment-muscle-labels
68 (touch-kinesthetics))
69 :end-frame 1200})))
70
71 (def full-contact [(float 0.0) (float 0.1)])
72
73 (defn pure-touch?
74 "This is worm specific code to determine if a large region of touch
75 sensors is either all on or all off."
76 [[coords touch :as touch-data]]
77 (= (set (map first touch)) (set full-contact)))
78
79 (defn remove-similar
80 [coll]
81 (loop [result () coll (sort-by (comp - count) coll)]
82 (if (empty? coll) result
83 (let [x (first coll)
84 xs (rest coll)
85 c (count x)]
86 (if (some
87 (fn [other-set]
88 (let [oc (count other-set)]
89 (< (- (count (union other-set x)) c) (* oc 0.1))))
90 xs)
91 (recur result xs)
92 (recur (cons x result) xs))))))
93
94 (defn rect-region [[x0 y0] [x1 y1]]
95 (vec
96 (for [x (range x0 (inc x1))
97 y (range y0 (inc y1))]
98 [x y])))
99
100 (def all-touch-coordinates
101 (concat
102 (rect-region [0 15] [7 22])
103 (rect-region [8 0] [14 29])
104 (rect-region [15 15] [22 22])))
105
106 (defn view-touch-region [coords]
107 (let [touched-region
108 (reduce
109 (fn [m k]
110 (assoc m k [0.0 0.1]))
111 (zipmap all-touch-coordinates (repeat [0.1 0.1])) coords)
112 data
113 [[(vec (keys touched-region)) (vec (vals touched-region))]]
114 touch-display (view-touch)]
115 (touch-display data)
116 (touch-display data)))
117
118 (defn learn-touch-regions []
119 (let [experiences (atom [])
120 world (apply-map
121 worm-world
122 (assoc (worm-segment-defaults)
123 :experiences experiences))]
124 (run-world world)
125 (->>
126 @experiences
127 (drop 175)
128 ;; access the single segment's touch data
129 (map (comp first :touch))
130 ;; only deal with "pure" touch data to determine surfaces
131 (filter pure-touch?)
132 ;; associate coordinates with touch values
133 (map (partial apply zipmap))
134 ;; select those regions where contact is being made
135 (map (partial group-by second))
136 (map #(get % full-contact))
137 (map (partial map first))
138 ;; remove redundant/subset regions
139 (map set)
140 remove-similar)))
141
142 (defn learn-and-view-touch-regions []
143 (map view-touch-region
144 (learn-touch-regions)))
145
146