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     2.1 Binary file assets/Models/worm-segment/touch-profile.xcf has changed

     3.1 Binary file assets/Models/worm-segment/worm-segment.blend has changed

     4.1 Binary file assets/Models/worm-segment/worm.blend has changed

     5.1 Binary file assets/Models/worm/basic-muscle.png has changed

     6.1 Binary file assets/Models/worm/touch-profile.png has changed

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     9.1 Binary file assets/Models/worm/worm.blend has changed

    10.1 --- a/org/util.org	Tue Mar 04 23:04:43 2014 -0500
    10.2 +++ b/org/util.org	Sun Mar 16 23:30:32 2014 -0400
    10.3 @@ -128,10 +128,13 @@
    10.4  
    10.5  (defn position-camera
    10.6    "Change the position of the in-world camera."
    10.7 -  [world #^Vector3f position #^Quaternion rotation]
    10.8 +  ([world #^Vector3f position #^Quaternion rotation]
    10.9       (doto (.getCamera world)
   10.10         (.setLocation position)
   10.11         (.setRotation rotation)))
   10.12 +  ([world [position rotation]]
   10.13 +     (position-camera world position rotation)))
   10.14 +     
   10.15  
   10.16  (defn enable-debug 
   10.17    "Turn on debug wireframes for every object in this simulation."
   10.18 @@ -614,7 +617,7 @@
   10.19  #+end_src
   10.20  
   10.21  
   10.22 -* COMMENT code generation
   10.23 +* code generation
   10.24  #+begin_src clojure :tangle ../src/cortex/import.clj
   10.25  <<import>>
   10.26  #+end_src

    11.1 --- a/org/worm_learn.clj	Tue Mar 04 23:04:43 2014 -0500
    11.2 +++ b/org/worm_learn.clj	Sun Mar 16 23:30:32 2014 -0400
    11.3 @@ -14,13 +14,14 @@
    11.4  (dorun (cortex.import/mega-import-jme3))
    11.5  (rlm.rlm-commands/help)
    11.6  
    11.7 +(load-bullet)
    11.8  
    11.9  (def hand "Models/test-creature/hand.blend")
   11.10  
   11.11  (defn worm-model []
   11.12    (load-blender-model "Models/worm/worm.blend"))
   11.13  
   11.14 -(def output-base (File. "/home/r/proj/cortex/render/worm-learn/"))
   11.15 +(def output-base (File. "/home/r/proj/cortex/render/worm-learn/curl"))
   11.16  
   11.17  
   11.18  (defn motor-control-program
   11.19 @@ -40,19 +41,25 @@
   11.20                      effectors
   11.21                      (map #(@current-forces % 0) muscle-positions)))))))
   11.22  
   11.23 +
   11.24 +
   11.25 +
   11.26 +;; These are scripts that direct the worm to move in two radically
   11.27 +;; different patterns -- a sinusoidal wiggling motion, and a curling
   11.28 +;; motions that causes the worm to form a circle.
   11.29 +
   11.30 +(def curl-script
   11.31 +  [[370 :d-up 40]
   11.32 +   [600 :d-up 0]])
   11.33 +
   11.34 +(def period 18)
   11.35 +
   11.36  (def muscle-labels
   11.37    [:base-up :base-down
   11.38     :a-up :a-down
   11.39     :b-up :b-down
   11.40     :c-up :c-down
   11.41 -   :d-up :d-down
   11.42 -   ])
   11.43 -
   11.44 -(def curl-script
   11.45 -  [[370 :d-up 20]
   11.46 -   [390 :d-up 0]])
   11.47 -
   11.48 -(def period 18)
   11.49 +   :d-up :d-down])
   11.50  
   11.51  (defn gen-wiggle [[flexor extensor :as muscle-pair] time-base]
   11.52    (let [period period
   11.53 @@ -63,24 +70,68 @@
   11.54       [(+ time-base (+ (* 2 period) 2))  extensor 0]]))
   11.55    
   11.56  (def wiggle-script
   11.57 -  (mapcat gen-wiggle [[:d-up :d-down]
   11.58 -                      [:c-up :c-down]
   11.59 -                      [:b-up :b-down]
   11.60 -                      [:a-up :a-down]] (range 100 1000 12)))
   11.61 -
   11.62 -(def wiggle-script
   11.63    (mapcat gen-wiggle (repeat 40 [:a-down :a-up])
   11.64                       (range 100 10000 (+ 3 (* period 2)))))
   11.65  
   11.66  
   11.67 +;; Normally, we'd use unsupervised/supervised machine learning to pick
   11.68 +;; out the defining features of the different actions available to the
   11.69 +;; worm. For this project, I am going to explicitely define functions
   11.70 +;; that recognize curling and wiggling respectively. These functions
   11.71 +;; are defined using all the information available from an embodied
   11.72 +;; simulation of the action. Note how much easier they are to define
   11.73 +;; than if I only had vision to work with. Things like scale/position
   11.74 +;; invariance are complete non-issues here. This is the advantage of
   11.75 +;; body-centered action recognition and what I hope to show with this
   11.76 +;; thesis.
   11.77 +
   11.78 +(defn last-nth
   11.79 +  "Create function that will, when called each frame with the senses
   11.80 +   of a creature, will record those results and return the last n
   11.81 +   results."
   11.82 +  [n]
   11.83 +  (let [last-n  '()]
   11.84 +    (fn [frame-num {:keys [touch proprioception muscles hearing]}]
   11.85 +      (take n (cons [frame-num :stuff] last-n)))))
   11.86 +      
   11.87 +
   11.88 +(defn wiggling?
   11.89 +  "Generate a function which, when called each frame with the sensory
   11.90 +   inputs of a worm, will determine whether the worm is wiggling."
   11.91 +  [{:keys [touch proprioception muscles hearing]}]
   11.92 +  (map (fn [f] (f)) proprioception
   11.93 +   
   11.94 +
   11.95 +))
   11.96 +
   11.97 +(defn curling?
   11.98 +  "Is the worm curled up?"
   11.99 +  []
  11.100 +  )
  11.101 +
  11.102 +(defn resting?
  11.103 +  "Is the worm on the ground in a neutral position?"
  11.104 +  [])
  11.105 +
  11.106 +(def standard-world-view
  11.107 +  [(Vector3f. 4.207176, -3.7366982, 3.0816958)
  11.108 +   (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771)])
  11.109 +
  11.110 +(def worm-side-view
  11.111 +  [(Vector3f. 4.207176, -3.7366982, 3.0816958)
  11.112 +   (Quaternion. -0.11555642, 0.88188726, -0.2854942, -0.3569518)])
  11.113 +
  11.114 +(def degenerate-worm-view
  11.115 +  [(Vector3f. -0.0708936, -8.570261, 2.6487997)
  11.116 +   (Quaternion. -2.318909E-4, 0.9985348, 0.053941682, 0.004291452)])
  11.117  
  11.118  (defn worm-world
  11.119    ""
  11.120    ([] (worm-world curl-script))
  11.121    ([motion-script]
  11.122 -     (let [record? false
  11.123 +     (let [record? false ;;true
  11.124             worm (doto (worm-model) (body!))
  11.125 -           touch   '();;(touch! worm)
  11.126 +           touch   (touch! worm)
  11.127             prop    (proprioception! worm)
  11.128             muscles (movement! worm)
  11.129             
  11.130 @@ -99,19 +150,7 @@
  11.131          
  11.132          (fn [world]
  11.133            ;; (set-gravity world Vector3f/ZERO)
  11.134 -          ;; (position-camera
  11.135 -          ;;  world (Vector3f. 4.207176, -3.7366982, 3.0816958)
  11.136 -          ;;  (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771))
  11.137 -
  11.138 -
  11.139 -
  11.140 -          (position-camera
  11.141 -           world (Vector3f. 4.207176, -3.7366982, 3.0816958)
  11.142 -           (Quaternion. -0.11555642, 0.88188726, -0.2854942, -0.3569518))
  11.143 -
  11.144 -
  11.145 -
  11.146 -
  11.147 +          (position-camera world degenerate-worm-view)
  11.148            (let [timer (IsoTimer. 60)]
  11.149              (.setTimer world timer)
  11.150              (display-dilated-time world timer))
  11.151 @@ -121,7 +160,6 @@
  11.152               (File. output-base "main-view")))
  11.153            (speed-up world)
  11.154            (light-up-everything world))
  11.155 -        
  11.156          (fn [world tpf]
  11.157            (muscle-display
  11.158             (control-script muscles)