rlm@394: (ns org.aurellem.worm-learn
rlm@394:   "General worm creation framework."
rlm@394:   {:author "Robert McIntyre"}
rlm@394:   (:use (cortex world util import body sense
rlm@408:                 hearing touch vision proprioception movement
rlm@408:                 test))
rlm@394:   (:import (com.jme3.math ColorRGBA Vector3f))
rlm@394:   (:import java.io.File)
rlm@394:   (:import com.jme3.audio.AudioNode)
rlm@397:   (:import com.aurellem.capture.RatchetTimer)
rlm@397:   (:import (com.aurellem.capture Capture IsoTimer))
rlm@397:   (:import (com.jme3.math Vector3f ColorRGBA)))
rlm@406: 
rlm@413: (import org.apache.commons.math3.transform.TransformType)
rlm@413: (import org.apache.commons.math3.transform.FastFourierTransformer)
rlm@413: (import org.apache.commons.math3.transform.DftNormalization)
rlm@413: 
rlm@406: (use 'clojure.pprint)
rlm@408: (use 'clojure.set)
rlm@394: (dorun (cortex.import/mega-import-jme3))
rlm@394: (rlm.rlm-commands/help)
rlm@394: 
rlm@400: (load-bullet)
rlm@394: 
rlm@399: (def hand "Models/test-creature/hand.blend")
rlm@394: 
rlm@399: (defn worm-model []
rlm@399:   (load-blender-model "Models/worm/worm.blend"))
rlm@394: 
rlm@400: (def output-base (File. "/home/r/proj/cortex/render/worm-learn/curl"))
rlm@394: 
rlm@397: 
rlm@399: (defn motor-control-program
rlm@399:   "Create a function which will execute the motor script"
rlm@406:   [muscle-labels
rlm@399:    script]
rlm@399:   (let [current-frame (atom -1)
rlm@399:         keyed-script (group-by first script)
rlm@399:         current-forces (atom {}) ]
rlm@399:     (fn [effectors]
rlm@399:       (let [indexed-effectors (vec effectors)]
rlm@399:         (dorun 
rlm@399:          (for [[_ part force] (keyed-script (swap! current-frame inc))]
rlm@399:            (swap! current-forces (fn [m] (assoc m part force)))))
rlm@399:         (doall (map (fn [effector power]
rlm@399:                       (effector (int power)))
rlm@399:                     effectors
rlm@406:                     (map #(@current-forces % 0) muscle-labels)))))))
rlm@397: 
rlm@404: (defn worm-direct-control
rlm@404:   "Create keybindings and a muscle control program that will enable
rlm@404:    the user to control the worm via the keyboard."
rlm@404:   [muscle-labels activation-strength]
rlm@404:   (let [strengths (mapv (fn [_] (atom 0)) muscle-labels)
rlm@404:         activator
rlm@404:         (fn [n]
rlm@404:           (fn [world pressed?]
rlm@404:             (let [strength (if pressed? activation-strength 0)]
rlm@404:               (swap! (nth strengths n) (constantly strength)))))
rlm@404:         activators
rlm@404:         (map activator (range (count muscle-labels)))
rlm@404:         worm-keys
rlm@404:         ["key-f" "key-r"
rlm@404:          "key-g" "key-t"
rlm@413:          "key-h" "key-y"
rlm@404:          "key-j" "key-u"
rlm@413:          "key-k" "key-i"
rlm@413:          "key-l" "key-o"]]
rlm@404:     {:motor-control
rlm@404:      (fn [effectors]
rlm@404:       (doall
rlm@404:        (map (fn [strength effector]
rlm@404:               (effector (deref strength)))
rlm@404:             strengths effectors)))
rlm@404:      :keybindings
rlm@404:      ;; assume muscles are listed in pairs and map them to keys.
rlm@404:      (zipmap worm-keys activators)}))
rlm@400: 
rlm@400: ;; These are scripts that direct the worm to move in two radically
rlm@400: ;; different patterns -- a sinusoidal wiggling motion, and a curling
rlm@400: ;; motions that causes the worm to form a circle.
rlm@400: 
rlm@400: (def curl-script
rlm@415:   [[150 :d-flex 40]
rlm@415:    [250 :d-flex 0]])
rlm@400: 
rlm@400: (def period 18)
rlm@400: 
rlm@404: (def worm-muscle-labels
rlm@414:   [:base-ex :base-flex
rlm@414:    :a-ex :a-flex
rlm@414:    :b-ex :b-flex
rlm@414:    :c-ex :c-flex
rlm@414:    :d-ex :d-flex])
rlm@399: 
rlm@399: (defn gen-wiggle [[flexor extensor :as muscle-pair] time-base]
rlm@399:   (let [period period
rlm@399:         power 45]
rlm@399:     [[time-base flexor power]
rlm@399:      [(+ time-base period) flexor 0]
rlm@399:      [(+ time-base period 1) extensor power]
rlm@399:      [(+ time-base (+ (* 2 period) 2))  extensor 0]]))
rlm@399:   
rlm@399: (def wiggle-script
rlm@414:   (mapcat gen-wiggle (repeat 4000 [:a-ex :a-flex])
rlm@406:                      (range 100 1000000 (+ 3 (* period 2)))))
rlm@399: 
rlm@399: 
rlm@415: (defn shift-script [shift script]
rlm@415:   (map (fn [[time label power]] [(+ time shift) label power])
rlm@415:        script))
rlm@415: 
rlm@415: (def do-all-the-things 
rlm@415:   (concat
rlm@415:    curl-script
rlm@415:    [[300 :d-ex 40]
rlm@415:     [320 :d-ex 0]]
rlm@415:    (shift-script 280 (take 16 wiggle-script))))
rlm@415: 
rlm@400: ;; Normally, we'd use unsupervised/supervised machine learning to pick
rlm@400: ;; out the defining features of the different actions available to the
rlm@400: ;; worm. For this project, I am going to explicitely define functions
rlm@400: ;; that recognize curling and wiggling respectively. These functions
rlm@400: ;; are defined using all the information available from an embodied
rlm@400: ;; simulation of the action. Note how much easier they are to define
rlm@400: ;; than if I only had vision to work with. Things like scale/position
rlm@400: ;; invariance are complete non-issues here. This is the advantage of
rlm@400: ;; body-centered action recognition and what I hope to show with this
rlm@400: ;; thesis.
rlm@400: 
rlm@405: 
rlm@415: ;; curled? relies on proprioception, resting? relies on touch,
rlm@415: ;; wiggling? relies on a fourier analysis of muscle contraction, and
rlm@415: ;; grand-circle? relies on touch and reuses curled? as a gaurd.
rlm@405: 
rlm@405: (defn curled?
rlm@405:   "Is the worm curled up?"
rlm@405:   [experiences]
rlm@405:   (every?
rlm@405:    (fn [[_ _ bend]]
rlm@405:      (> (Math/sin bend) 0.64))
rlm@405:    (:proprioception (peek experiences))))
rlm@405: 
rlm@411: (defn rect-region [[x0 y0] [x1 y1]]
rlm@411:   (vec
rlm@411:    (for [x (range x0 (inc x1))
rlm@411:          y (range y0 (inc y1))]
rlm@411:      [x y])))
rlm@407: 
rlm@415: (def worm-segment-bottom (rect-region [8 15] [14 22]))
rlm@407: 
rlm@411: (defn contact
rlm@411:   "Determine how much contact a particular worm segment has with
rlm@411:    other objects. Returns a value between 0 and 1, where 1 is full
rlm@411:    contact and 0 is no contact."
rlm@415:   [touch-region [coords contact :as touch]]
rlm@411:   (-> (zipmap coords contact)
rlm@415:       (select-keys touch-region)
rlm@411:       (vals)
rlm@411:       (#(map first %))
rlm@411:       (average)
rlm@411:       (* 10)
rlm@411:       (- 1)
rlm@411:       (Math/abs)))
rlm@406: 
rlm@415: (defn resting?
rlm@443:   "Is the worm resting on the ground?"
rlm@415:   [experiences]
rlm@415:   (every?
rlm@415:    (fn [touch-data]
rlm@415:      (< 0.9 (contact worm-segment-bottom touch-data)))
rlm@415:    (:touch (peek experiences))))
rlm@415: 
rlm@415: (defn vector:last-n [v n]
rlm@415:   (let [c (count v)]
rlm@415:     (if (< c n) v
rlm@415:         (subvec v (- c n) c))))
rlm@415: 
rlm@413: (defn fft [nums]
rlm@414:   (map
rlm@414:    #(.getReal %)
rlm@414:    (.transform
rlm@414:     (FastFourierTransformer. DftNormalization/STANDARD)
rlm@414:     (double-array nums) TransformType/FORWARD)))
rlm@413: 
rlm@413: (def indexed (partial map-indexed vector))
rlm@413: 
rlm@414: (defn max-indexed [s]
rlm@414:   (first (sort-by (comp - second) (indexed s))))
rlm@414: 
rlm@400: (defn wiggling?
rlm@405:   "Is the worm wiggling?"
rlm@405:   [experiences]
rlm@414:   (let [analysis-interval 0x40]
rlm@414:     (when (> (count experiences) analysis-interval)
rlm@414:       (let [a-flex 3
rlm@414:             a-ex   2
rlm@414:             muscle-activity
rlm@414:             (map :muscle (vector:last-n experiences analysis-interval))
rlm@414:             base-activity
rlm@414:             (map #(- (% a-flex) (% a-ex)) muscle-activity)]
rlm@414:         (= 2
rlm@414:            (first
rlm@415:             (max-indexed
rlm@415:              (map #(Math/abs %)
rlm@415:                   (take 20 (fft base-activity))))))))))
rlm@414: 
rlm@415: (def worm-segment-bottom-tip (rect-region [15 15] [22 22]))
rlm@414: 
rlm@415: (def worm-segment-top-tip (rect-region [0 15] [7 22]))
rlm@414: 
rlm@415: (defn grand-circle?
rlm@415:   "Does the worm form a majestic circle (one end touching the other)?"
rlm@415:   [experiences]
rlm@420:   (and (curled? experiences)
rlm@415:        (let [worm-touch (:touch (peek experiences))
rlm@415:              tail-touch (worm-touch 0)
rlm@415:              head-touch (worm-touch 4)]
rlm@415:          (and (< 0.55 (contact worm-segment-bottom-tip tail-touch))
rlm@415:               (< 0.55 (contact worm-segment-top-tip    head-touch))))))
rlm@400: 
rlm@418: 
rlm@418: (declare phi-space phi-scan)
rlm@418: 
rlm@418: (defn debug-experience
rlm@418:   [experiences]
rlm@418:   (cond
rlm@418:    (grand-circle? experiences) (println "Grand Circle")
rlm@418:    (curled? experiences)       (println "Curled")
rlm@418:    (wiggling? experiences)     (println "Wiggling")
rlm@418:    (resting? experiences)      (println "Resting")))
rlm@418: 
rlm@418: 
rlm@400: (def standard-world-view
rlm@400:   [(Vector3f. 4.207176, -3.7366982, 3.0816958)
rlm@400:    (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771)])
rlm@400: 
rlm@400: (def worm-side-view
rlm@400:   [(Vector3f. 4.207176, -3.7366982, 3.0816958)
rlm@400:    (Quaternion. -0.11555642, 0.88188726, -0.2854942, -0.3569518)])
rlm@400: 
rlm@400: (def degenerate-worm-view
rlm@400:   [(Vector3f. -0.0708936, -8.570261, 2.6487997)
rlm@400:    (Quaternion. -2.318909E-4, 0.9985348, 0.053941682, 0.004291452)])
rlm@399: 
rlm@404: (defn worm-world-defaults []
rlm@404:   (let [direct-control (worm-direct-control worm-muscle-labels 40)]
rlm@430:     (merge direct-control     
rlm@430:            {:view worm-side-view
rlm@430:             :record nil
rlm@430:             :experiences (atom [])
rlm@430:             :experience-watch debug-experience
rlm@430:             :worm-model worm-model
rlm@430:             :end-frame nil})))
rlm@407: 
rlm@404: (defn dir! [file]
rlm@410:   (if-not (.exists file)
rlm@404:     (.mkdir file))
rlm@404:   file)
rlm@405: 
rlm@405: (defn record-experience! [experiences data]
rlm@405:   (swap! experiences #(conj % data)))
rlm@405: 
rlm@444: (defn enable-shadows [world]
rlm@444:   (let [bsr (doto
rlm@444:                 (BasicShadowRenderer. (asset-manager) 512)
rlm@444:               (.setDirection (.normalizeLocal (Vector3f. 1 -1 -1))))]
rlm@444:     (.addProcessor (.getViewPort world) bsr)))
rlm@443: 
rlm@444: (defn enable-good-shadows [world]
rlm@444:   (let [pssm
rlm@444:         (doto (PssmShadowRenderer. (asset-manager) 1024 3)
rlm@444:           (.setDirection  (.normalizeLocal (Vector3f. -1 -3 -1)))
rlm@444:           (.setLambda (float 0.55))
rlm@444:           (.setShadowIntensity (float 0.6))
rlm@444:           (.setCompareMode PssmShadowRenderer$CompareMode/Software)
rlm@444:           (.setFilterMode  PssmShadowRenderer$FilterMode/Bilinear))]
rlm@444:     (.addProcessor (.getViewPort world) pssm)))
rlm@444:         
rlm@443: 
rlm@399: (defn worm-world
rlm@407:   [& {:keys [record motor-control keybindings view experiences
rlm@418:              worm-model end-frame experience-watch] :as settings}]
rlm@407:   (let [{:keys [record motor-control keybindings view experiences
rlm@418:                 worm-model end-frame experience-watch]}
rlm@404:         (merge (worm-world-defaults) settings)
rlm@404:         worm (doto (worm-model) (body!))
rlm@404:         touch   (touch! worm)
rlm@404:         prop    (proprioception! worm)
rlm@404:         muscles (movement! worm)
rlm@404:         
rlm@404:         touch-display  (view-touch)
rlm@404:         prop-display   (view-proprioception)
rlm@404:         muscle-display (view-movement)
rlm@404:         
rlm@444:         floor
rlm@444:         (box 5 1 5 :position (Vector3f. 0 -10 0)
rlm@444:              :mass 0
rlm@444:              :texture "Textures/aurellem.png"
rlm@444:              :material "Common/MatDefs/Misc/Unshaded.j3md")
rlm@407:         timer (IsoTimer. 60)]
rlm@399: 
rlm@404:     (world
rlm@444:      (nodify [worm floor])
rlm@404:        (merge standard-debug-controls keybindings)
rlm@404:        (fn [world]
rlm@444:          (enable-good-shadows world)
rlm@444:          (.setShadowMode worm RenderQueue$ShadowMode/CastAndReceive)
rlm@444:          (.setShadowMode floor RenderQueue$ShadowMode/Receive)
rlm@444:                   
rlm@444:          (.setBackgroundColor (.getViewPort world) (ColorRGBA/White))
rlm@443:          (.setDisplayStatView world false)
rlm@443:          (.setDisplayFps world false)
rlm@404:          (position-camera world view)
rlm@407:          (.setTimer world timer)
rlm@407:          (display-dilated-time world timer)
rlm@430:          (when record
rlm@404:            (Capture/captureVideo
rlm@404:             world
rlm@404:             (dir! (File. record "main-view"))))
rlm@404:          (speed-up world)
rlm@444:          ;;(light-up-everything world)
rlm@444:          )
rlm@404:        (fn [world tpf]
rlm@410:          (if (and end-frame (> (.getTime timer) end-frame))
rlm@407:            (.stop world))
rlm@414:          (let [muscle-data (vec (motor-control muscles))
rlm@405:                proprioception-data (prop)
rlm@415:                touch-data (mapv #(% (.getRootNode world)) touch)]
rlm@405:            (when experiences
rlm@405:              (record-experience!
rlm@405:               experiences {:touch touch-data
rlm@405:                            :proprioception proprioception-data
rlm@418:                            :muscle muscle-data}))
rlm@418:            (when experience-watch
rlm@418:              (experience-watch @experiences))
rlm@404:            (muscle-display
rlm@405:             muscle-data
rlm@430:             (when record (dir! (File. record "muscle"))))
rlm@405:            (prop-display
rlm@405:             proprioception-data
rlm@430:             (when record (dir! (File. record "proprio"))))
rlm@405:            (touch-display 
rlm@405:             touch-data
rlm@430:             (when record (dir! (File. record "touch")))))))))
rlm@407: 
rlm@407: 
rlm@407: 
rlm@416: ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@416: ;;;;;;;;   Phi-Space   ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@416: ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@416: 
rlm@416: (defn generate-phi-space []
rlm@416:   (let [experiences (atom [])]
rlm@416:     (run-world
rlm@416:      (apply-map 
rlm@416:       worm-world
rlm@416:       (merge
rlm@416:        (worm-world-defaults)
rlm@416:        {:end-frame 700
rlm@416:         :motor-control
rlm@416:         (motor-control-program worm-muscle-labels do-all-the-things)
rlm@416:         :experiences experiences})))
rlm@416:     @experiences))
rlm@416: 
rlm@416: (defn bin [digits]
rlm@416:   (fn [angles]
rlm@416:     (->> angles
rlm@416:          (flatten)
rlm@416:          (map (juxt #(Math/sin %) #(Math/cos %)))
rlm@416:          (flatten)
rlm@416:          (mapv #(Math/round (* % (Math/pow 10 (dec digits))))))))
rlm@416: 
rlm@418: ;; k-nearest neighbors with spatial binning. Only returns a result if
rlm@418: ;; the propriceptive data is within 10% of a previously recorded
rlm@418: ;; result in all dimensions.
rlm@416: (defn gen-phi-scan [phi-space]
rlm@416:   (let [bin-keys (map bin [3 2 1])
rlm@416:         bin-maps
rlm@417:         (map (fn [bin-key]
rlm@417:                (group-by
rlm@417:                 (comp bin-key :proprioception phi-space)
rlm@417:                 (range (count phi-space)))) bin-keys)
rlm@416:         lookups (map (fn [bin-key bin-map]
rlm@416:                       (fn [proprio] (bin-map (bin-key proprio))))
rlm@416:                     bin-keys bin-maps)]
rlm@416:     (fn lookup [proprio-data]
rlm@419:       (set (some #(% proprio-data) lookups)))))
rlm@419: 
rlm@419: 
rlm@419: (defn longest-thread
rlm@419:   "Find the longest thread from phi-index-sets. The index sets should
rlm@419:    be ordered from most recent to least recent."
rlm@419:   [phi-index-sets]
rlm@419:   (loop [result '()
rlm@419:          [thread-bases & remaining :as phi-index-sets] phi-index-sets]
rlm@419:     (if (empty? phi-index-sets)
rlm@420:       (vec result)
rlm@419:       (let [threads
rlm@419:             (for [thread-base thread-bases]
rlm@419:               (loop [thread (list thread-base)
rlm@419:                      remaining remaining]
rlm@419:                 (let [next-index (dec (first thread))]
rlm@419:                   (cond (empty? remaining) thread
rlm@419:                         (contains? (first remaining) next-index)
rlm@419:                         (recur
rlm@419:                          (cons next-index thread) (rest remaining))
rlm@419:                         :else thread))))
rlm@419:             longest-thread
rlm@419:             (reduce (fn [thread-a thread-b]
rlm@419:                       (if (> (count thread-a) (count thread-b))
rlm@419:                         thread-a thread-b))
rlm@419:                     '(nil)
rlm@419:                     threads)]
rlm@419:         (recur (concat longest-thread result)
rlm@419:                (drop (count longest-thread) phi-index-sets))))))
rlm@419: 
rlm@416: 
rlm@416: (defn init []
rlm@416:   (def phi-space (generate-phi-space))
rlm@416:   (def phi-scan (gen-phi-scan phi-space))
rlm@416:   )
rlm@418: 
rlm@430: ;; (defn infer-nils-dyl [s]
rlm@430: ;;   (loop [closed ()
rlm@430: ;;          open s
rlm@430: ;;          anchor 0]
rlm@430: ;;     (if-not (empty? open)
rlm@430: ;;       (recur (conj closed
rlm@430: ;;                    (or (peek open)
rlm@430: ;;                        anchor))
rlm@430: ;;              (pop open)
rlm@430: ;;              (or (peek open) anchor))
rlm@430: ;;        closed)))
rlm@430:       
rlm@430: ;; (defn infer-nils [s]
rlm@430: ;;   (for [i (range (count s))]
rlm@430: ;;     (or (get s i)
rlm@430: ;;         (some (comp not nil?) (vector:last-n (- (count s) i)))
rlm@430: ;;         0)))
rlm@420: 
rlm@420: 
rlm@420: (defn infer-nils
rlm@420:   "Replace nils with the next available non-nil element in the
rlm@420:    sequence, or barring that, 0."
rlm@420:   [s]
rlm@430:   (loop [i (dec (count s))
rlm@430:          v (transient s)]
rlm@430:     (if (zero? i) (persistent! v)
rlm@430:         (if-let [cur (v i)]
rlm@430:           (if (get v (dec i) 0)
rlm@430:             (recur (dec i) v)
rlm@430:             (recur (dec i) (assoc! v (dec i) cur)))
rlm@430:           (recur i (assoc! v i 0))))))
rlm@420: 
rlm@420: ;; tests
rlm@420: 
rlm@420: ;;(infer-nils [1 nil 1 1]) [1 1 1 1]
rlm@420: ;;(infer-nils [1 1 1 nil]) [1 1 1 0]
rlm@420: ;;(infer-nils [nil 2 1 1]) [2 2 1 1]       
rlm@420:   
rlm@420: 
rlm@420: (defn debug-experience-phi []
rlm@420:   (let [proprio (atom ())]
rlm@420:     (fn
rlm@420:       [experiences]
rlm@420:       (let [phi-indices (phi-scan (:proprioception (peek experiences)))]
rlm@420:         (swap! proprio (partial cons phi-indices))
rlm@420:         (let [exp-thread (longest-thread (take 300 @proprio))
rlm@420:               phi-loop (mapv phi-space (infer-nils exp-thread))]
rlm@420:           (println-repl (vector:last-n exp-thread 22))
rlm@420:           (cond
rlm@420:            (grand-circle? phi-loop) (println "Grand Circle")
rlm@420:            (curled? phi-loop)       (println "Curled")
rlm@420:            (wiggling? phi-loop)     (println "Wiggling")
rlm@420:            (resting? phi-loop)      (println "Resting")
rlm@420:            :else                    (println "Unknown")))))))
rlm@420: 
rlm@420: 
rlm@420: (defn init-interactive []
rlm@420:   (def phi-space
rlm@420:     (let [experiences (atom [])]
rlm@420:       (run-world
rlm@420:        (apply-map 
rlm@420:         worm-world
rlm@420:         (merge
rlm@420:          (worm-world-defaults)
rlm@420:          {:experiences experiences})))
rlm@420:       @experiences))
rlm@420:   (def phi-scan (gen-phi-scan phi-space)))
rlm@420:     
rlm@420: 
rlm@420: (defn run-experiment-1 []
rlm@420:   (.start (worm-world :experience-watch (debug-experience-phi))))