Mercurial > cortex
view org/worm_learn.clj @ 400:6ba908c1a0a9
on the warpath to the final stretch.
author | Robert McIntyre <rlm@mit.edu> |
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date | Sun, 16 Mar 2014 23:30:32 -0400 |
parents | 85393ec986dc |
children | 939bcc5950b2 |
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1 (ns org.aurellem.worm-learn2 "General worm creation framework."3 {:author "Robert McIntyre"}4 (:use (cortex world util import body sense5 hearing touch vision proprioception movement))6 (:import (com.jme3.math ColorRGBA Vector3f))7 (:import java.io.File)8 (:import com.jme3.audio.AudioNode)9 (:import com.aurellem.capture.RatchetTimer)10 (:import (com.aurellem.capture Capture IsoTimer))11 (:import (com.jme3.math Vector3f ColorRGBA)))14 (dorun (cortex.import/mega-import-jme3))15 (rlm.rlm-commands/help)17 (load-bullet)19 (def hand "Models/test-creature/hand.blend")21 (defn worm-model []22 (load-blender-model "Models/worm/worm.blend"))24 (def output-base (File. "/home/r/proj/cortex/render/worm-learn/curl"))27 (defn motor-control-program28 "Create a function which will execute the motor script"29 [muscle-positions30 script]31 (let [current-frame (atom -1)32 keyed-script (group-by first script)33 current-forces (atom {}) ]34 (fn [effectors]35 (let [indexed-effectors (vec effectors)]36 (dorun37 (for [[_ part force] (keyed-script (swap! current-frame inc))]38 (swap! current-forces (fn [m] (assoc m part force)))))39 (doall (map (fn [effector power]40 (effector (int power)))41 effectors42 (map #(@current-forces % 0) muscle-positions)))))))47 ;; These are scripts that direct the worm to move in two radically48 ;; different patterns -- a sinusoidal wiggling motion, and a curling49 ;; motions that causes the worm to form a circle.51 (def curl-script52 [[370 :d-up 40]53 [600 :d-up 0]])55 (def period 18)57 (def muscle-labels58 [:base-up :base-down59 :a-up :a-down60 :b-up :b-down61 :c-up :c-down62 :d-up :d-down])64 (defn gen-wiggle [[flexor extensor :as muscle-pair] time-base]65 (let [period period66 power 45]67 [[time-base flexor power]68 [(+ time-base period) flexor 0]69 [(+ time-base period 1) extensor power]70 [(+ time-base (+ (* 2 period) 2)) extensor 0]]))72 (def wiggle-script73 (mapcat gen-wiggle (repeat 40 [:a-down :a-up])74 (range 100 10000 (+ 3 (* period 2)))))77 ;; Normally, we'd use unsupervised/supervised machine learning to pick78 ;; out the defining features of the different actions available to the79 ;; worm. For this project, I am going to explicitely define functions80 ;; that recognize curling and wiggling respectively. These functions81 ;; are defined using all the information available from an embodied82 ;; simulation of the action. Note how much easier they are to define83 ;; than if I only had vision to work with. Things like scale/position84 ;; invariance are complete non-issues here. This is the advantage of85 ;; body-centered action recognition and what I hope to show with this86 ;; thesis.88 (defn last-nth89 "Create function that will, when called each frame with the senses90 of a creature, will record those results and return the last n91 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)))))98 (defn wiggling?99 "Generate a function which, when called each frame with the sensory100 inputs of a worm, will determine whether the worm is wiggling."101 [{:keys [touch proprioception muscles hearing]}]102 (map (fn [f] (f)) proprioception105 ))107 (defn curling?108 "Is the worm curled up?"109 []110 )112 (defn resting?113 "Is the worm on the ground in a neutral position?"114 [])116 (def standard-world-view117 [(Vector3f. 4.207176, -3.7366982, 3.0816958)118 (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771)])120 (def worm-side-view121 [(Vector3f. 4.207176, -3.7366982, 3.0816958)122 (Quaternion. -0.11555642, 0.88188726, -0.2854942, -0.3569518)])124 (def degenerate-worm-view125 [(Vector3f. -0.0708936, -8.570261, 2.6487997)126 (Quaternion. -2.318909E-4, 0.9985348, 0.053941682, 0.004291452)])128 (defn worm-world129 ""130 ([] (worm-world curl-script))131 ([motion-script]132 (let [record? false ;;true133 worm (doto (worm-model) (body!))134 touch (touch! worm)135 prop (proprioception! worm)136 muscles (movement! worm)138 touch-display (view-touch)139 prop-display (view-proprioception)140 muscle-display (view-movement)142 floor (box 10 1 10 :position (Vector3f. 0 -10 0)143 :color ColorRGBA/Gray :mass 0)145 control-script (motor-control-program146 muscle-labels motion-script)]147 (world148 (nodify [worm floor])149 standard-debug-controls151 (fn [world]152 ;; (set-gravity world Vector3f/ZERO)153 (position-camera world degenerate-worm-view)154 (let [timer (IsoTimer. 60)]155 (.setTimer world timer)156 (display-dilated-time world timer))157 (if record?158 (Capture/captureVideo159 world160 (File. output-base "main-view")))161 (speed-up world)162 (light-up-everything world))163 (fn [world tpf]164 (muscle-display165 (control-script muscles)166 (if record? (File. output-base "muscle")))167 (prop-display168 (prop)169 (if record? (File. output-base "proprio")))170 (touch-display171 (map #(% (.getRootNode world)) touch)172 (if record?173 (File. output-base "touch"))))))))