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

     2.1 --- a/org/worm_learn.clj	Tue Mar 18 18:34:10 2014 -0400
     2.2 +++ b/org/worm_learn.clj	Tue Mar 18 19:53:42 2014 -0400
     2.3 @@ -143,6 +143,17 @@
     2.4  (defn touch-average [[coords touch]]
     2.5    (/ (average (map first touch)) (average (map second touch))))
     2.6  
     2.7 +(def worm-segment-touch-bottom
     2.8 +  [[8 15] [8 16] [8 17] [8 18] [8 19] [8 20] [8 21] [8 22] [9 15]
     2.9 +   [9 16] [9 17] [9 18] [9 19] [9 20] [9 21] [9 22] [10 15] [10 16]
    2.10 +   [10 17] [10 18] [10 19] [10 20] [10 21] [10 22] [11 15] [11 16]
    2.11 +   [11 17] [11 18] [11 19] [11 20] [11 21] [11 22] [12 15] [12 16]
    2.12 +   [12 17] [12 18] [12 19] [12 20] [12 21] [12 22] [13 15] [13 16]
    2.13 +   [13 17] [13 18] [13 19] [13 20] [13 21] [13 22] [14 15] [14 16]
    2.14 +   [14 17] [14 18] [14 19] [14 20] [14 21] [14 22]])
    2.15 +
    2.16 +
    2.17 +
    2.18  (defn floor-contact [[coords contact :as touch]]
    2.19    (let [raw-average
    2.20          (average
    2.21 @@ -151,13 +162,7 @@
    2.22            (vals
    2.23             (select-keys
    2.24              (zipmap coords contact)
    2.25 -            [[8 15] [8 16] [8 17] [8 18] [8 19] [8 20] [8 21] [8 22] [9 15]
    2.26 -             [9 16] [9 17] [9 18] [9 19] [9 20] [9 21] [9 22] [10 15] [10 16]
    2.27 -             [10 17] [10 18] [10 19] [10 20] [10 21] [10 22] [11 15] [11 16]
    2.28 -             [11 17] [11 18] [11 19] [11 20] [11 21] [11 22] [12 15] [12 16]
    2.29 -             [12 17] [12 18] [12 19] [12 20] [12 21] [12 22] [13 15] [13 16]
    2.30 -             [13 17] [13 18] [13 19] [13 20] [13 21] [13 22] [14 15] [14 16]
    2.31 -             [14 17] [14 18] [14 19] [14 20] [14 21] [14 22]]))))]
    2.32 +            ))))]
    2.33      (Math/abs (- 1. (* 10 raw-average)))))
    2.34  
    2.35  
    2.36 @@ -186,7 +191,10 @@
    2.37       :motor-control (:motor-control direct-control)
    2.38       :keybindings (:keybindings direct-control)
    2.39       :record nil
    2.40 -     :experiences nil}))
    2.41 +     :experiences nil
    2.42 +     :worm-model worm-model
    2.43 +     :end-frame nil}))
    2.44 +
    2.45  
    2.46  (defn dir! [file]
    2.47    (if (not (.exists file))
    2.48 @@ -197,8 +205,10 @@
    2.49    (swap! experiences #(conj % data)))
    2.50  
    2.51  (defn worm-world
    2.52 -  [& {:keys [record motor-control keybindings view experiences] :as settings}]
    2.53 -  (let [{:keys [record motor-control keybindings view]}
    2.54 +  [& {:keys [record motor-control keybindings view experiences
    2.55 +             worm-model end-frame] :as settings}]
    2.56 +  (let [{:keys [record motor-control keybindings view experiences
    2.57 +                worm-model end-frame]}
    2.58          (merge (worm-world-defaults) settings)
    2.59          worm (doto (worm-model) (body!))
    2.60          touch   (touch! worm)
    2.61 @@ -210,16 +220,16 @@
    2.62          muscle-display (view-movement)
    2.63          
    2.64          floor (box 10 1 10 :position (Vector3f. 0 -10 0)
    2.65 -                   :color ColorRGBA/Gray :mass 0)]
    2.66 +                   :color ColorRGBA/Gray :mass 0)
    2.67 +        timer (IsoTimer. 60)]
    2.68  
    2.69      (world
    2.70         (nodify [worm floor])
    2.71         (merge standard-debug-controls keybindings)
    2.72         (fn [world]
    2.73           (position-camera world view)
    2.74 -         (let [timer (IsoTimer. 60)]
    2.75 -           (.setTimer world timer)
    2.76 -           (display-dilated-time world timer))
    2.77 +         (.setTimer world timer)
    2.78 +         (display-dilated-time world timer)
    2.79           (if record
    2.80             (Capture/captureVideo
    2.81              world
    2.82 @@ -227,6 +237,8 @@
    2.83           (speed-up world)
    2.84           (light-up-everything world))
    2.85         (fn [world tpf]
    2.86 +         (if (> (.getTime timer) end-frame)
    2.87 +           (.stop world))
    2.88           (let [muscle-data (motor-control muscles)
    2.89                 proprioception-data (prop)
    2.90                 touch-data (map #(% (.getRootNode world)) touch)]
    2.91 @@ -237,10 +249,10 @@
    2.92                             :muscle muscle-data})
    2.93               (if (curled? @experiences) (println "Curled"))
    2.94               ;;(if (straight? @experiences)    (println "Straight"))
    2.95 -             (println-repl
    2.96 -              (apply format "%.2f %.2f %.2f %.2f %.2f\n"
    2.97 -                     (map floor-contact touch-data)))
    2.98 -
    2.99 +             ;; (println-repl
   2.100 +             ;;  (apply format "%.2f %.2f %.2f %.2f %.2f\n"
   2.101 +             ;;         (map floor-contact touch-data)))
   2.102 +             
   2.103               )
   2.104             (muscle-display
   2.105              muscle-data
   2.106 @@ -251,3 +263,61 @@
   2.107             (touch-display 
   2.108              touch-data
   2.109              (if record (dir! (File. record "touch")))))))))
   2.110 +
   2.111 +
   2.112 +;; A demonstration of self organiging touch maps through experience. 
   2.113 +
   2.114 +(def single-worm-segment-view
   2.115 +  [(Vector3f. 2.0681207, -6.1406755, 1.6106138)
   2.116 +   (Quaternion. -0.15558705, 0.843615, -0.3428654, -0.38281822)])
   2.117 +
   2.118 +(def worm-single-segment-muscle-labels
   2.119 +  [:lift-1 :lift-2 :roll-1 :roll-2])
   2.120 +
   2.121 +(defn touch-kinesthetics []
   2.122 +  [[170 :lift-1 40]
   2.123 +   [190 :lift-1 20]
   2.124 +   [206 :lift-1  0]
   2.125 +
   2.126 +   [400 :lift-2 40]
   2.127 +   [410 :lift-2  0]
   2.128 +
   2.129 +   [570 :lift-2 40]
   2.130 +   [590 :lift-2 20]
   2.131 +   [606 :lift-2  0]
   2.132 +
   2.133 +   [800 :lift-1 40]
   2.134 +   [809 :lift-1 0]
   2.135 +
   2.136 +   [900 :roll-2 40]
   2.137 +   [905 :roll-2 20]
   2.138 +   [910 :roll-2  0]
   2.139 +
   2.140 +   [1000 :roll-2 40]
   2.141 +   [1005 :roll-2 20]
   2.142 +   [1010 :roll-2  0]
   2.143 +   
   2.144 +   [1100 :roll-2 40]
   2.145 +   [1105 :roll-2 20]
   2.146 +   [1110 :roll-2  0]
   2.147 +   ])
   2.148 +
   2.149 +(defn worm-segment-defaults []
   2.150 +  (let [direct-control (worm-direct-control worm-muscle-labels 40)]
   2.151 +    (merge (worm-world-defaults)
   2.152 +           {:worm-model single-worm-segment
   2.153 +            :view single-worm-segment-view
   2.154 +            :motor-control
   2.155 +            (motor-control-program
   2.156 +             worm-single-segment-muscle-labels
   2.157 +             (touch-kinesthetics))})))
   2.158 +
   2.159 +(defn single-worm-segment []
   2.160 +  (load-blender-model "Models/worm/worm-single-segment.blend"))
   2.161 +
   2.162 +
   2.163 +(defn pure-touch?
   2.164 +  "This is worm specific code to determine if a large region of touch
   2.165 +   sensors is either all on or all off."
   2.166 +  [[coords touch :as touch-data]]
   2.167 +  (= (set (map first touch)) #{(float 0.1)  (float 0.0)}))
   2.168 \ No newline at end of file

     3.1 --- a/thesis/org/roadmap.org	Tue Mar 18 18:34:10 2014 -0400
     3.2 +++ b/thesis/org/roadmap.org	Tue Mar 18 19:53:42 2014 -0400
     3.3 @@ -191,9 +191,14 @@
     3.4  *** DONE add phi-space output to debug control
     3.5      CLOSED: [2014-03-17 Mon 17:42] SCHEDULED: <2014-03-17 Mon>
     3.6      CLOCK: [2014-03-17 Mon 17:31]--[2014-03-17 Mon 17:42] =>  0:11
     3.7 +
     3.8 +*** TODO complete automatic touch partitioning
     3.9 +*** TODO complete cyclic predicate
    3.10  *** TODO complete three phi-stream action predicatates; test them with debug control
    3.11      SCHEDULED: <2014-03-17 Mon>
    3.12 -    CLOCK: [2014-03-17 Mon 19:19]
    3.13 +    CLOCK: [2014-03-18 Tue 18:36]
    3.14 +    CLOCK: [2014-03-18 Tue 18:34]--[2014-03-18 Tue 18:36] =>  0:02
    3.15 +    CLOCK: [2014-03-17 Mon 19:19]--[2014-03-17 Mon 21:19] =>  2:00
    3.16  *** TODO create test videos, also record positions of worm segments
    3.17      SCHEDULED: <2014-03-17 Mon>
    3.18  *** TODO complete proprioception based movement lookup in phi-space