1.1 Binary file assets/Models/test-creature/basic-muscle.png has changed

     2.1 Binary file assets/Models/test-creature/worm.blend has changed

     3.1 Binary file assets/Models/test-touch/touch-cube.blend has changed

     4.1 Binary file images/basic-muscle.png has changed

     5.1 Binary file images/worm-with-muscle.png has changed

     6.1 --- a/org/hearing.org	Mon Feb 13 21:53:28 2012 -0600
     6.2 +++ b/org/hearing.org	Mon Feb 13 21:53:54 2012 -0600
     6.3 @@ -950,7 +950,6 @@
     6.4  #+end_src
     6.5  
     6.6  * Testing Hearing
     6.7 -
     6.8  ** Advanced Java Example
     6.9  
    6.10  I wrote a test case in Java that demonstrates the use of the Java
    6.11 @@ -1083,7 +1082,6 @@
    6.12    sound it hears beomes fainter. This shows the 3D localization of
    6.13    sound in this world.</p>
    6.14  </div>
    6.15 -
    6.16  #+end_html
    6.17  
    6.18  *** Creating the Ear Video
    6.19 @@ -1169,7 +1167,6 @@
    6.20  #+html: <ul> <li> <a href="../org/hearing.org">This org file</a> </li> </ul>
    6.21    - [[http://hg.bortreb.com ][source-repository]]
    6.22  
    6.23 -
    6.24  * Next
    6.25    The worm can see and hear, but it can't feel the world or
    6.26    itself. Next post, I'll give the worm a [[./touch.org][sense of touch]].

     7.1 --- a/org/ideas.org	Mon Feb 13 21:53:28 2012 -0600
     7.2 +++ b/org/ideas.org	Mon Feb 13 21:53:54 2012 -0600
     7.3 @@ -100,6 +100,7 @@
     7.4   - [ ] show sensor maps in HUD display? -- 4 days
     7.5   - [ ] show sensor maps in AWT display? -- 2 days
     7.6   - [ ] upgrade to clojure 1.3, replace all defvars with new def
     7.7 + - [ ] common video creation code.
     7.8  
     7.9  
    7.10  

     8.1 --- a/org/movement.org	Mon Feb 13 21:53:28 2012 -0600
     8.2 +++ b/org/movement.org	Mon Feb 13 21:53:54 2012 -0600
     8.3 @@ -1,4 +1,4 @@
     8.4 -#+title: Movement!
     8.5 +#+title: Simulated Muscles
     8.6  #+author: Robert McIntyre
     8.7  #+email: rlm@mit.edu
     8.8  #+description: muscles for a simulated creature
     8.9 @@ -7,48 +7,61 @@
    8.10  #+INCLUDE: ../../aurellem/org/level-0.org
    8.11  
    8.12  
    8.13 +* Muscles
    8.14 +
    8.15  Surprisingly enough, terristerial creatures only move by using torque
    8.16  applied about their joints.  There's not a single straight line of
    8.17  force in the human body at all!  (A straight line of force would
    8.18 -correspond to some sort of jet or rocket propulseion.)
    8.19 +correspond to some sort of jet or rocket propulsion.)
    8.20  
    8.21 +*(next paragraph is from memory and needs to be checked!)*
    8.22  
    8.23 -Here's how motor-control/ proprioception will work: Each muscle is
    8.24 -defined by a 1-D array of numbers (the "motor pool") each of which
    8.25 -represent muscle fibers. A muscle also has a scalar :strength factor
    8.26 -which determines how strong the muscle as a whole is.  The effector
    8.27 -function for a muscle takes a number < (count motor-pool) and that
    8.28 -number is said to "activate" all the muscle fibers whose index is
    8.29 -lower than the number.  Each fiber will apply force in proportion to
    8.30 -its value in the array.  Lower values cause less force.  The lower
    8.31 -values can be put at the "beginning" of the 1-D array to simulate the
    8.32 -layout of actual human muscles, which are capable of more percise
    8.33 -movements when exerting less force.
    8.34 +In humans, muscles are composed of millions of sarcomeres, which can
    8.35 +contract to exert force. A single motor neuron might control 100-1,000
    8.36 +sarcomeres. When the motor neuron is engaged by the brain, it
    8.37 +activates all of the sarcomeres to which it is attached. Some motor
    8.38 +neurons command many sarcomeres, and some command only a few. The
    8.39 +spinal cord generally engages the motor neurons which control few
    8.40 +sarcomeres before the motor neurons which control many sarcomeres.
    8.41 +This recruitment stragety allows for percise movements at low
    8.42 +strength. The collection of all motor neurons that control a muscle is
    8.43 +called the motor pool. The brain essentially says "activate 30% of the
    8.44 +motor pool" and the spinal cord recruits motor neurons untill 30% are
    8.45 +activated. Since the distribution of power among motor neurons is
    8.46 +unequal and recruitment goes from weakest to strongest, 30% of the
    8.47 +motor pool might be 5% of the strength of the muscle.
    8.48  
    8.49 -#+name: movement
    8.50 +My simulated muscles follow a similiar design: Each muscle is defined
    8.51 +by a 1-D array of numbers (the "motor pool"). Each number represents a
    8.52 +motor neuron which controlls a number of sarcomeres equal to the
    8.53 +number. A muscle also has a scalar :strength factor which determines
    8.54 +the total force the muscle can exert when all motor neurons are
    8.55 +activated.  The effector function for a muscle takes a number to index
    8.56 +into the motor pool, and that number "activates" all the motor neurons
    8.57 +whose index is lower or equal to the number.  Each motor-neuron will
    8.58 +apply force in proportion to its value in the array.  Lower values
    8.59 +cause less force.  The lower values can be put at the "beginning" of
    8.60 +the 1-D array to simulate the layout of actual human muscles, which
    8.61 +are capable of more percise movements when exerting less force. Or,
    8.62 +the motor pool can simulate more exoitic recruitment strageties which
    8.63 +do not correspond to human muscles. 
    8.64 +
    8.65 +This 1D array is defined in an image file for ease of
    8.66 +creation/visualization. Here is an example muscle profile image.
    8.67 +
    8.68 +#+caption: A muscle profile image that describes the strengths of each motor neuron in a muscle. White is weakest and dark red is strongest. This particular pattern has weaker motor neurons at the beginning, just like human muscle.
    8.69 +[[../images/basic-muscle.png]]
    8.70 +
    8.71 +* Blender Meta-data
    8.72 +
    8.73 +In blender, each muscle is an empty node whose top level parent is
    8.74 +named "muscles", just like eyes, ears, and joints.
    8.75 +
    8.76 +These functions define the expected meta-data for a muscle node.
    8.77 +
    8.78 +#+name: muscle-meta-data
    8.79  #+begin_src clojure 
    8.80 -(ns cortex.movement
    8.81 -  "Give simulated creatures defined in special blender files the power
    8.82 -   to move around in a simulated environment."
    8.83 -  {:author "Robert McIntyre"}
    8.84 -  (:use (cortex world util sense body))
    8.85 -  (:use clojure.contrib.def)
    8.86 -  (:import java.awt.image.BufferedImage)
    8.87 -  (:import com.jme3.scene.Node)
    8.88 -  (:import com.jme3.math.Vector3f)
    8.89 -  (:import com.jme3.bullet.control.RigidBodyControl))
    8.90 -
    8.91 -(defn muscle-profile
    8.92 -  "Return a vector where each entry is the strength of the \"motor
    8.93 -  pool\" at that part in the muscle."
    8.94 -  [#^BufferedImage profile]
    8.95 -  (vec
    8.96 -   (let [width (.getWidth profile)]
    8.97 -     (for [x (range width)]
    8.98 -       (- 255
    8.99 -          (bit-and
   8.100 -           0x0000FF
   8.101 -           (.getRGB profile x 0)))))))
   8.102 +(in-ns 'cortex.movement)
   8.103  
   8.104  (defvar 
   8.105    ^{:arglists '([creature])}
   8.106 @@ -56,30 +69,64 @@
   8.107    (sense-nodes "muscles")
   8.108    "Return the children of the creature's \"muscles\" node.")
   8.109  
   8.110 -(defn movement-fn
   8.111 +(defn muscle-profile-image
   8.112 +  "Get the muscle-profile image from the node's blender meta-data."
   8.113 +  [#^Node muscle]
   8.114 +  (if-let [image (meta-data muscle "muscle")]
   8.115 +    (load-image image)))
   8.116 +
   8.117 +(defn muscle-strength
   8.118 +  "Return the strength of this muscle, or 1 if it is not defined."
   8.119 +  [#^Node muscle]
   8.120 +  (if-let [strength (meta-data muscle "strength")]
   8.121 +    strength 1))
   8.122 +
   8.123 +(defn motor-pool
   8.124 +  "Return a vector where each entry is the strength of the \"motor
   8.125 +   neuron\" at that part in the muscle."
   8.126 +  [#^Node muscle]
   8.127 +  (let [profile (muscle-profile-image muscle)]
   8.128 +    (vec
   8.129 +     (let [width (.getWidth profile)]
   8.130 +       (for [x (range width)]
   8.131 +       (- 255
   8.132 +          (bit-and
   8.133 +           0x0000FF
   8.134 +           (.getRGB profile x 0))))))))
   8.135 +#+end_src
   8.136 +
   8.137 +Of note here is =(motor-pool)= which interprets the muscle-profile
   8.138 +image in a way that allows me to use gradients between white and red,
   8.139 +instead of shades of gray as I've been using for all the other
   8.140 +senses. This is purely an aesthetic touch.
   8.141 +
   8.142 +* Creating Muscles
   8.143 +#+name: muscle-kernel
   8.144 +#+begin_src clojure
   8.145 +(in-ns 'cortex.movement)
   8.146 +
   8.147 +(defn movement-kernel
   8.148    "Returns a function which when called with a integer value inside a
   8.149     running simulation will cause movement in the creature according
   8.150     to the muscle's position and strength profile. Each function
   8.151     returns the amount of force applied / max force."
   8.152 -  [#^Node parts #^Node muscle]
   8.153 -  (let [target (closest-node parts muscle)
   8.154 +  [#^Node creature #^Node muscle]
   8.155 +  (let [target (closest-node creature muscle)
   8.156          axis
   8.157          (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
   8.158 -        strength (meta-data muscle "strength")
   8.159 -        image-name (read-string (meta-data muscle "muscle"))
   8.160 -        image (load-image image-name)
   8.161 -        fibers (muscle-profile image)
   8.162 -        fiber-integral (reductions + fibers)
   8.163 +        strength (muscle-strength muscle)
   8.164 +        
   8.165 +        pool (motor-pool muscle)
   8.166 +        pool-integral (reductions + pool)
   8.167          force-index
   8.168 -        (vec (map  #(float (* strength (/ % (last fiber-integral))))
   8.169 -              fiber-integral))
   8.170 +        (vec (map  #(float (* strength (/ % (last pool-integral))))
   8.171 +              pool-integral))
   8.172          control (.getControl target RigidBodyControl)]
   8.173      (fn [n]
   8.174 -      (let [pool-index (max 0 (min n (dec (count fibers))))
   8.175 +      (let [pool-index (max 0 (min n (dec (count pool))))
   8.176              force (force-index pool-index)]
   8.177          (.applyTorque control (.mult axis force))
   8.178          (float (/ force strength))))))
   8.179 -        
   8.180  
   8.181  (defn movement!
   8.182    "Endow the creature with the power of movement. Returns a sequence
   8.183 @@ -87,8 +134,24 @@
   8.184     activate their corresponding muscle."
   8.185    [#^Node creature]
   8.186      (for [muscle (muscles creature)]
   8.187 -      (movement-fn creature muscle)))
   8.188 +      (movement-kernel creature muscle)))
   8.189 +#+end_src
   8.190  
   8.191 +=(movement-kernel)= creates a function that will move the nearest
   8.192 +physical object to the muscle node. The muscle exerts a rotational
   8.193 +force dependant on it's orientation to the object in the blender
   8.194 +file. The function returned by =(movement-kernel)= is also a sense
   8.195 +function: it returns the percent of the total muscle strength that is
   8.196 +currently being employed. This is analogous to muscle tension in
   8.197 +humans and completes the sense of proprioception begun in the last
   8.198 +post. 
   8.199 +
   8.200 +* Visualizing Muscle Tension
   8.201 +Muscle exertion is a percent of a total, so the visulazation is just a
   8.202 +simple percent bar.
   8.203 +
   8.204 +#+name: visualization
   8.205 +#+begin_src clojure
   8.206  (defn movement-display-kernel
   8.207    "Display muscle exertion data as a bar filling up with red."
   8.208    [exertion]
   8.209 @@ -108,14 +171,166 @@
   8.210    displays each element of the list to the screen."
   8.211    []
   8.212    (view-sense movement-display-kernel))
   8.213 -
   8.214  #+end_src
   8.215  
   8.216 +* Adding Touch to the Worm
   8.217  
   8.218 +#+begin_src clojure
   8.219 +(defn test-movement
   8.220 +  ([] (test-movement false))
   8.221 +  ([record?]
   8.222 +     (let [creature (doto (worm) (body!))
   8.223  
   8.224 +           muscle-exertion (atom 0)
   8.225 +           muscles (movement! creature)
   8.226 +           muscle-display (view-movement)]
   8.227 +       (.setMass
   8.228 +        (.getControl (.getChild creature "worm-11") RigidBodyControl)
   8.229 +        (float 0))
   8.230 +       (world
   8.231 +        (nodify [creature (floor)])
   8.232 +        (merge standard-debug-controls
   8.233 +               {"key-h"
   8.234 +                (fn [_ value]
   8.235 +                  (if value
   8.236 +                    (swap!  muscle-exertion (partial + 20))))
   8.237 +                "key-n"
   8.238 +                (fn [_ value]
   8.239 +                  (if value
   8.240 +                    (swap! muscle-exertion (fn [v] (- v 20)))))})
   8.241 +        (fn [world]
   8.242 +          (if record?
   8.243 +            (Capture/captureVideo
   8.244 +             world
   8.245 +             (File. "/home/r/proj/cortex/render/worm-muscles/main-view")))
   8.246 +          (light-up-everything world)
   8.247 +          (enable-debug world)
   8.248 +          (.setTimer world (RatchetTimer. 60))
   8.249 +          (set-gravity world (Vector3f. 0 0 0))
   8.250 +          (.setLocation (.getCamera world)
   8.251 +                        (Vector3f. -4.912815, 2.004171, 0.15710819))
   8.252 +          (.setRotation (.getCamera world)
   8.253 +                        (Quaternion. 0.13828252, 0.65516764, 
   8.254 +                                     -0.12370994, 0.7323449))
   8.255  
   8.256 +          (comment 
   8.257 +            (com.aurellem.capture.Capture/captureVideo
   8.258 +             world (file-str "/home/r/proj/ai-videos/hand"))))
   8.259 +        (fn [world tpf]
   8.260 +          (muscle-display
   8.261 +           (map #(% @muscle-exertion) muscles)
   8.262 +           (if record?
   8.263 +             (File. "/home/r/proj/cortex/render/worm-muscles/muscles"))))))))
   8.264 +#+end_src
   8.265 +
   8.266 +* Video Demonstration 
   8.267 +
   8.268 +#+begin_html
   8.269 +<div class="figure">
   8.270 +<center>
   8.271 +<video controls="controls" width="550">
   8.272 +  <source src="../video/worm-muscles.ogg" type="video/ogg"
   8.273 +	  preload="none" poster="../images/aurellem-1280x480.png" />
   8.274 +</video>
   8.275 +</center>
   8.276 +<p>The worm is now able to move. The bar in the lower right displays
   8.277 +  the power output of the muscle . Each jump causes 20 more motor neurons to
   8.278 +  be recruited.  Notice that the power output increases non-linearly
   8.279 +  with motror neuron recruitement, similiar to a human muscle.</p>
   8.280 +</div>
   8.281 +#+end_html
   8.282 +
   8.283 +
   8.284 +** Making the Worm Muscles Video
   8.285 +#+name: magick7
   8.286 +#+begin_src clojure
   8.287 +(ns cortex.video.magick7
   8.288 +  (:import java.io.File)
   8.289 +  (:use clojure.contrib.shell-out))
   8.290 +
   8.291 +(defn images [path]
   8.292 +  (sort (rest (file-seq (File. path)))))
   8.293 +
   8.294 +(def base "/home/r/proj/cortex/render/worm-muscles/")
   8.295 +
   8.296 +(defn pics [file]
   8.297 +  (images (str base file)))
   8.298 +
   8.299 +(defn combine-images []
   8.300 +  (let [main-view (pics "main-view")
   8.301 +        muscles (pics "muscles/0")
   8.302 +        targets (map
   8.303 +                 #(File. (str base "out/" (format "%07d.png" %)))
   8.304 +                 (range 0 (count main-view)))]
   8.305 +    (dorun
   8.306 +     (pmap
   8.307 +      (comp
   8.308 +       (fn [[ main-view muscles target]]
   8.309 +         (println target)
   8.310 +         (sh "convert"
   8.311 +             main-view 
   8.312 +             muscles "-geometry" "+320+440" "-composite"
   8.313 +             target))
   8.314 +       (fn [& args] (map #(.getCanonicalPath %) args)))
   8.315 +       main-view muscles targets))))
   8.316 +#+end_src
   8.317 +
   8.318 +#+begin_src sh :results silent
   8.319 +cd ~/proj/cortex/render/worm-muscles
   8.320 +ffmpeg -r 60 -i out/%07d.png -b:v 9000k -c:v libtheora worm-muscles.ogg
   8.321 +#+end_src
   8.322 +
   8.323 +* Headers
   8.324 +#+name: muscle-header
   8.325 +#+begin_src clojure
   8.326 +(ns cortex.movement
   8.327 +  "Give simulated creatures defined in special blender files the power
   8.328 +   to move around in a simulated environment."
   8.329 +  {:author "Robert McIntyre"}
   8.330 +  (:use (cortex world util sense body))
   8.331 +  (:use clojure.contrib.def)
   8.332 +  (:import java.awt.image.BufferedImage)
   8.333 +  (:import com.jme3.scene.Node)
   8.334 +  (:import com.jme3.math.Vector3f)
   8.335 +  (:import com.jme3.bullet.control.RigidBodyControl))
   8.336 +#+end_src
   8.337 +
   8.338 +#+name: test-header
   8.339 +#+begin_src clojure
   8.340 +(ns cortex.test.movement
   8.341 +  (:use (cortex world util sense body movement))
   8.342 +  (:use cortex.test.body)
   8.343 +  (:use clojure.contrib.def)
   8.344 +  (:import java.io.File)
   8.345 +  (:import java.awt.image.BufferedImage)
   8.346 +  (:import com.jme3.scene.Node)
   8.347 +  (:import com.jme3.math.Vector3f)
   8.348 +  (:import (com.aurellem.capture Capture RatchetTimer))
   8.349 +  (:import com.jme3.bullet.control.RigidBodyControl))
   8.350 +
   8.351 +(cortex.import/mega-import-jme3)
   8.352 +#+end_src
   8.353 +
   8.354 +* Source Listing
   8.355 +  - [[../src/cortex/movement.clj][cortex.movement]]
   8.356 +  - [[../src/cortex/test/movement.clj][cortex.test.movement]]
   8.357 +  - [[../src/cortex/video/magick7.clj][cortex.video.magick7]]
   8.358 +#+html: <ul> <li> <a href="../org/movement.org">This org file</a> </li> </ul>
   8.359 +  - [[http://hg.bortreb.com ][source-repository]]
   8.360  
   8.361  * COMMENT code generation
   8.362  #+begin_src clojure :tangle ../src/cortex/movement.clj
   8.363 -<<movement>>
   8.364 +<<muscle-header>>
   8.365 +<<muscle-meta-data>>
   8.366 +<<muscle-kernel>>
   8.367 +<<visualization>>
   8.368  #+end_src
   8.369 +
   8.370 +#+begin_src clojure :tangle ../src/cortex/test/movement.clj
   8.371 +<<test-header>>
   8.372 +<<test-movement>>
   8.373 +#+end_src
   8.374 +
   8.375 +#+begin_src clojure :tangle ../src/cortex/video/magick7.clj
   8.376 +<<magick7>>
   8.377 +#+end_src

     9.1 --- a/org/proprioception.org	Mon Feb 13 21:53:28 2012 -0600
     9.2 +++ b/org/proprioception.org	Mon Feb 13 21:53:54 2012 -0600
     9.3 @@ -6,36 +6,89 @@
     9.4  #+SETUPFILE: ../../aurellem/org/setup.org
     9.5  #+INCLUDE: ../../aurellem/org/level-0.org
     9.6  
     9.7 -#+name: proprioception
     9.8 +* Proprioception
     9.9 +
    9.10 +Close your eyes, and touch your nose with your right index finger. How
    9.11 +did you do it? You could not see your hand, and neither your hand nor
    9.12 +your nose could use the sense of touch to guide the path of your hand.
    9.13 +There are no sound cues, and Taste and Smell certainly don't provide
    9.14 +any help. You know where your hand is without your other senses
    9.15 +because of Proprioception.
    9.16 +
    9.17 +Humans can sometimes loose this sense through viral infections or
    9.18 +damage to the spinal cord or brain, and when they do, they loose the
    9.19 +ability to control their own bodies without looking directly at the
    9.20 +parts they want to move. In [[http://en.wikipedia.org/wiki/The_Man_Who_Mistook_His_Wife_for_a_Hat][The Man Who Mistook His Wife for a Hat]],
    9.21 +a woman named Christina looses this sense and has to learn how to move
    9.22 +by carefully watching her arms and legs. She describes proprioception
    9.23 +as the "eyes of the body, the way the body sees itself". 
    9.24 +
    9.25 +Proprioception in humans is mediated by [[http://en.wikipedia.org/wiki/Articular_capsule][joint capsules]], [[http://en.wikipedia.org/wiki/Muscle_spindle][muscle
    9.26 +spindles]], and the [[http://en.wikipedia.org/wiki/Golgi_tendon_organ][Golgi tendon organs]]. These measure the relative
    9.27 +positions of each pody part by monitoring muscle strain and length.
    9.28 +
    9.29 +It's clear that this is a vital sense for fulid, graceful
    9.30 +movement. It's also particurally easy to implement in jMonkeyEngine.
    9.31 +
    9.32 +My simulated proprioception calculates the relative angles of each
    9.33 +joint from the rest position defined in the blender file. This
    9.34 +simulates the muscle-spindles and joint capsules.  I will deal with
    9.35 +Golgi tendon organs, which calculate muscle strain, in the [[./movement.org][next post]].
    9.36 +
    9.37 +* Helper Functions
    9.38 +
    9.39 +=(absolute-angle)= calculates the angle between two vectors, relative to a
    9.40 +third axis vector. This angle is the number of radians you have to
    9.41 +move counterclockwise around the axis vector to get from the first to
    9.42 +the second vector. It is not commutative like a normal dot-product
    9.43 +angle is.
    9.44 +
    9.45 +#+name: helpers
    9.46  #+begin_src clojure
    9.47 -(ns cortex.proprioception
    9.48 -  "Simulate the sense of proprioception (ability to detect the
    9.49 -  relative positions of body parts with repsect to other body parts)
    9.50 -  in jMonkeyEngine3. Reads specially prepared blender files to
    9.51 -  automatically generate proprioceptive senses."
    9.52 -  (:use (cortex world util sense body))
    9.53 -  (:use clojure.contrib.def)
    9.54 -  (:import com.jme3.scene.Node)
    9.55 -  (:import java.awt.image.BufferedImage)
    9.56 -  (:import (com.jme3.math Vector3f Quaternion)))
    9.57 +(in-ns 'cortex.proprioception)
    9.58  
    9.59  (defn right-handed?
    9.60    "true iff the three vectors form a right handed coordinate
    9.61 -  system. The three vectors do not have to be normalized or
    9.62 -  orthogonal."
    9.63 +   system. The three vectors do not have to be normalized or
    9.64 +   orthogonal."
    9.65    [vec1 vec2 vec3]
    9.66    (< 0 (.dot (.cross vec1 vec2) vec3)))
    9.67  
    9.68  (defn absolute-angle
    9.69 -  "The angle between 'vec1 and 'vec2. Positive if the angle to get
    9.70 -  from 'vec1 to 'vec2 is counterclockwise around 'axis, and negative
    9.71 -  otherwise." 
    9.72 +  "The angle between 'vec1 and 'vec2 around 'axis. In the range 
    9.73 +   [0 (* 2 Math/PI)]."
    9.74    [vec1 vec2 axis]
    9.75    (let [angle (.angleBetween vec1 vec2)]
    9.76      (if (right-handed? vec1 vec2 axis)
    9.77        angle (- (* 2 Math/PI) angle))))
    9.78 +#+end_src
    9.79  
    9.80 -(defn proprioception-fn
    9.81 +#+begin_src clojure :exports both
    9.82 +(in-ns 'cortex.proprioception)
    9.83 +(absolute-angle  Vector3f/UNIT_X Vector3f/UNIT_Y Vector3f/UNIT_Z)
    9.84 +#+end_src
    9.85 +
    9.86 +#+results:
    9.87 +: 1.5707964
    9.88 +
    9.89 +#+begin_src clojure :exports both
    9.90 +(in-ns 'cortex.proprioception)
    9.91 +(absolute-angle 
    9.92 + Vector3f/UNIT_X (.mult Vector3f/UNIT_Y (float -1)) Vector3f/UNIT_Z)
    9.93 +#+end_src
    9.94 +
    9.95 +#+results:
    9.96 +: 4.7123889366733
    9.97 +
    9.98 +* Proprioception Kernel
    9.99 +
   9.100 +Given a joint, =(proprioception-kernel)= produces a function that
   9.101 +calculates the euler angles between the the objects the joint
   9.102 +connects. 
   9.103 +
   9.104 +#+name: proprioception
   9.105 +#+begin_src clojure
   9.106 +(defn proprioception-kernel
   9.107    "Returns a function which returns proprioceptive sensory data when
   9.108    called inside a running simulation."
   9.109    [#^Node parts #^Node joint]
   9.110 @@ -44,12 +97,6 @@
   9.111          x0 (.mult joint-rot Vector3f/UNIT_X)
   9.112          y0 (.mult joint-rot Vector3f/UNIT_Y)
   9.113          z0 (.mult joint-rot Vector3f/UNIT_Z)]
   9.114 -    (println-repl "x:" x0)
   9.115 -    (println-repl "y:" y0)
   9.116 -    (println-repl "z:" z0)
   9.117 -    (println-repl "init-a:" (.getWorldRotation obj-a))
   9.118 -    (println-repl "init-b:" (.getWorldRotation obj-b))
   9.119 -
   9.120      (fn []
   9.121        (let [rot-a (.clone (.getWorldRotation obj-a))
   9.122              rot-b (.clone (.getWorldRotation obj-b))
   9.123 @@ -80,18 +127,33 @@
   9.124     that joint."
   9.125    [#^Node creature]
   9.126    ;; extract the body's joints
   9.127 -  (let [senses (map (partial proprioception-fn creature)
   9.128 +  (let [senses (map (partial proprioception-kernel creature)
   9.129                      (joints creature))]
   9.130      (fn []
   9.131        (map #(%) senses))))
   9.132 +#+end_src
   9.133  
   9.134  
   9.135 +=(proprioception!)= maps =(proprioception-kernel)= across all the
   9.136 +joints of the creature. It uses the same list of joints that
   9.137 +=(cortex.body/joints)= uses.
   9.138 +
   9.139 +* Visualizing Proprioception
   9.140 +
   9.141 +Proprioception has the lowest bandwidth of all the senses so far, and
   9.142 +it doesn't lend itself as readily to visual representation like
   9.143 +vision, hearing, or touch. This visualization code creates a "guage"
   9.144 +to view each of the three relative angles along a circle.
   9.145 +
   9.146 +#+name: visualize
   9.147 +#+begin_src clojure 
   9.148 +(in-ns 'cortex.proprioception)
   9.149 +
   9.150  (defn draw-sprite [image sprite x y color ]
   9.151    (dorun
   9.152     (for [[u v] sprite]
   9.153       (.setRGB image (+ u x) (+ v y) color))))
   9.154  
   9.155 -
   9.156  (defn view-angle
   9.157    "create a debug view of an angle"
   9.158    [color]
   9.159 @@ -109,7 +171,6 @@
   9.160            (reset! previous position))
   9.161          image))))
   9.162  
   9.163 -
   9.164  (defn proprioception-display-kernel
   9.165    "Display proprioception angles in a BufferedImage"
   9.166    [[h p r]]
   9.167 @@ -143,14 +204,16 @@
   9.168     display each element of the list to the screen as an image."
   9.169    []
   9.170    (view-sense proprioception-display-kernel))
   9.171 -  
   9.172 -  
   9.173 -
   9.174  #+end_src
   9.175  
   9.176 -#+name: test-body
   9.177 +* Proprioception Test
   9.178 +This test does not use the worm, but instead uses two bars, bound
   9.179 +together by a point2point joint. One bar is fixed, and I control the
   9.180 +other bar from the keyboard. 
   9.181 +
   9.182 +#+name: test-proprioception
   9.183  #+begin_src clojure
   9.184 -
   9.185 +(in-ns 'cortex.test.proprioception)
   9.186  
   9.187  (defn test-proprioception
   9.188    "Testing proprioception:
   9.189 @@ -159,92 +222,166 @@
   9.190     change only the value of pitch. key-f/key-g moves it side to side
   9.191     and changes yaw. key-v/key-b will spin the blue segment clockwise
   9.192     and counterclockwise, and only affect roll."
   9.193 -  []
   9.194 -  (let [hand    (box 0.2 1 0.2 :position (Vector3f. 0 0 0)
   9.195 -                     :mass 0 :color ColorRGBA/Green :name "hand")
   9.196 -        finger (box 0.2 1 0.2 :position (Vector3f. 0 2.4 0)
   9.197 -                    :mass 1 :color ColorRGBA/Red :name "finger")
   9.198 -        joint-node (box 0.1 0.05 0.05 :color ColorRGBA/Yellow
   9.199 -                        :position (Vector3f. 0 1.2 0)
   9.200 -                        :rotation (doto (Quaternion.)
   9.201 -                                    (.fromAngleAxis
   9.202 -                                     (/ Math/PI 2)
   9.203 -                                     (Vector3f. 0 0 1)))
   9.204 -                        :physical? false)
   9.205 -        joint (join-at-point hand finger (Vector3f. 0 1.2 0 ))
   9.206 -        creature (nodify [hand finger joint-node])
   9.207 -        finger-control (.getControl finger RigidBodyControl)
   9.208 -        hand-control (.getControl hand RigidBodyControl)]
   9.209 -    
   9.210 +  ([] (test-proprioception false))
   9.211 +  ([record?]
   9.212 +     (let [hand    (box 0.2 1 0.2 :position (Vector3f. 0 0 0)
   9.213 +                        :mass 0 :color ColorRGBA/Gray :name "hand")
   9.214 +           finger (box 0.2 1 0.2 :position (Vector3f. 0 2.4 0)
   9.215 +                       :mass 1
   9.216 +                       :color
   9.217 +                       (ColorRGBA. (/ 184 255) (/ 127 255) (/ 201 255) 1) 
   9.218 +                       :name "finger")
   9.219 +           joint-node (box 0.1 0.05 0.05 :color ColorRGBA/Yellow
   9.220 +                           :position (Vector3f. 0 1.2 0)
   9.221 +                           :rotation (doto (Quaternion.)
   9.222 +                                       (.fromAngleAxis
   9.223 +                                        (/ Math/PI 2)
   9.224 +                                        (Vector3f. 0 0 1)))
   9.225 +                           :physical? false)
   9.226 +           creature (nodify [hand finger joint-node])
   9.227 +           finger-control (.getControl finger RigidBodyControl)
   9.228 +           hand-control (.getControl hand RigidBodyControl)
   9.229 +           joint (joint-dispatch {:type :point} hand-control finger-control
   9.230 +                                 (Vector3f. 0 1.2  0)
   9.231 +                                 (Vector3f. 0 -1.2 0) nil)
   9.232  
   9.233 -    (let
   9.234 -        ;; *******************************************
   9.235 -                
   9.236 -        [floor   (box 10 10 10 :position (Vector3f. 0 -15 0)
   9.237 -                     :mass 0 :color ColorRGBA/Gray)
   9.238 -        
   9.239 -        root (nodify [creature floor])
   9.240 -        prop (joint-proprioception creature joint-node)
   9.241 -        prop-view (proprioception-debug-window)
   9.242 -        
   9.243 -        controls
   9.244 -        (merge standard-debug-controls
   9.245 -               {"key-o"
   9.246 -                (fn [_ _] (.setEnabled finger-control true))
   9.247 -                "key-p"
   9.248 -                (fn [_ _] (.setEnabled finger-control false))
   9.249 -                "key-k"
   9.250 -                (fn [_ _] (.setEnabled hand-control true))
   9.251 -                "key-l"
   9.252 -                (fn [_ _] (.setEnabled hand-control false))
   9.253 -                "key-i"
   9.254 -                (fn [world _] (set-gravity world (Vector3f. 0 0 0)))
   9.255 -                "key-period"
   9.256 -                (fn [world _]
   9.257 -                  (.setEnabled finger-control false)
   9.258 -                  (.setEnabled hand-control false)
   9.259 -                  (.rotate creature (doto (Quaternion.)
   9.260 -                                      (.fromAngleAxis
   9.261 -                                       (float (/ Math/PI 15))
   9.262 -                                       (Vector3f. 0 0 -1))))
   9.263 -                                              
   9.264 -                  (.setEnabled finger-control true)
   9.265 -                  (.setEnabled hand-control true)
   9.266 -                  (set-gravity world (Vector3f. 0 0 0))
   9.267 -                  )
   9.268 -                
   9.269 -                  
   9.270 -                }
   9.271 -               )
   9.272 +           root (nodify [creature])
   9.273 +           prop (proprioception-kernel creature joint-node)
   9.274 +           prop-view (view-proprioception)]
   9.275 +       (.setCollisionGroup
   9.276 +        (.getControl hand RigidBodyControl)
   9.277 +        PhysicsCollisionObject/COLLISION_GROUP_NONE)
   9.278 +       (apply
   9.279 +        world
   9.280 +        (with-movement
   9.281 +          finger
   9.282 +          ["key-r" "key-t" "key-f" "key-g" "key-v" "key-b"]
   9.283 +          [1 1 10 10 10 10]
   9.284 +          [root
   9.285 +           standard-debug-controls
   9.286 +           (fn [world]
   9.287 +             (if record?
   9.288 +               (Capture/captureVideo
   9.289 +                world
   9.290 +                (File. "/home/r/proj/cortex/render/proprio/main-view")))
   9.291 +             (.setTimer world (com.aurellem.capture.RatchetTimer. 60))
   9.292 +             (set-gravity world (Vector3f. 0 0 0))
   9.293 +             (enable-debug world)
   9.294 +             (light-up-everything world))
   9.295 +           (fn [_ _]
   9.296 +             (prop-view
   9.297 +              (list (prop))
   9.298 +              (if record?
   9.299 +                (File. "/home/r/proj/cortex/render/proprio/proprio"))))])))))
   9.300 +#+end_src
   9.301  
   9.302 -        ]
   9.303 -    (comment
   9.304 -      (.setCollisionGroup
   9.305 -       (.getControl hand RigidBodyControl)
   9.306 -       PhysicsCollisionObject/COLLISION_GROUP_NONE)
   9.307 -      )
   9.308 -    (apply
   9.309 -     world
   9.310 -     (with-movement
   9.311 -       hand
   9.312 -       ["key-y" "key-u" "key-h" "key-j" "key-n" "key-m"]
   9.313 -       [10 10 10 10 1 1]
   9.314 -       (with-movement
   9.315 -         finger
   9.316 -         ["key-r" "key-t" "key-f" "key-g" "key-v" "key-b"]
   9.317 -         [1 1 10 10 10 10]
   9.318 -         [root
   9.319 -          controls
   9.320 -          (fn [world]
   9.321 -            (.setTimer world (com.aurellem.capture.RatchetTimer. 60))
   9.322 -            (set-gravity world (Vector3f. 0 0 0))
   9.323 -            (light-up-everything world))
   9.324 -          (fn [_ _] (prop-view (list (prop))))]))))))
   9.325 +#+results: test-proprioception
   9.326 +: #'cortex.test.proprioception/test-proprioception
   9.327  
   9.328 +* Video of Proprioception
   9.329 +
   9.330 +#+begin_html
   9.331 +<div class="figure">
   9.332 +<center>
   9.333 +<video controls="controls" width="550">
   9.334 +  <source src="../video/test-proprioception.ogg" type="video/ogg"
   9.335 +	  preload="none" poster="../images/aurellem-1280x480.png" />
   9.336 +</video>
   9.337 +</center>
   9.338 +<p>Proprioception in a simple creature. The proprioceptive readout is
   9.339 +  in the upper left corner of the screen.</p>
   9.340 +</div>
   9.341 +#+end_html
   9.342 +
   9.343 +** Generating the Proprioception Video
   9.344 +#+name: magick6
   9.345 +#+begin_src clojure
   9.346 +(ns cortex.video.magick6
   9.347 +  (:import java.io.File)
   9.348 +  (:use clojure.contrib.shell-out))
   9.349 +
   9.350 +(defn images [path]
   9.351 +  (sort (rest (file-seq (File. path)))))
   9.352 +
   9.353 +(def base "/home/r/proj/cortex/render/proprio/")
   9.354 +
   9.355 +(defn pics [file]
   9.356 +  (images (str base file)))
   9.357 +
   9.358 +(defn combine-images []
   9.359 +  (let [main-view (pics "main-view")
   9.360 +        proprioception (pics "proprio/0")
   9.361 +        targets (map
   9.362 +                 #(File. (str base "out/" (format "%07d.png" %)))
   9.363 +                 (range 0 (count main-view)))]
   9.364 +    (dorun
   9.365 +     (pmap
   9.366 +      (comp
   9.367 +       (fn [[ main-view proprioception target]]
   9.368 +         (println target)
   9.369 +         (sh "convert"
   9.370 +             main-view 
   9.371 +             proprioception "-geometry" "+20+20" "-composite"
   9.372 +             target))
   9.373 +       (fn [& args] (map #(.getCanonicalPath %) args)))
   9.374 +       main-view proprioception targets))))
   9.375  #+end_src
   9.376  
   9.377 +#+begin_src sh :results silent
   9.378 +cd ~/proj/cortex/render/proprio
   9.379 +ffmpeg -r 60 -i out/%07d.png -b:v 9000k -c:v libtheora \
   9.380 +       test-proprioception.ogg
   9.381 +#+end_src
   9.382 +
   9.383 +* Headers
   9.384 +#+name: proprioception-header
   9.385 +#+begin_src clojure
   9.386 +(ns cortex.proprioception
   9.387 +  "Simulate the sense of proprioception (ability to detect the
   9.388 +  relative positions of body parts with repsect to other body parts)
   9.389 +  in jMonkeyEngine3. Reads specially prepared blender files to
   9.390 +  automatically generate proprioceptive senses."
   9.391 +  (:use (cortex world util sense body))
   9.392 +  (:use clojure.contrib.def)
   9.393 +  (:import com.jme3.scene.Node)
   9.394 +  (:import java.awt.image.BufferedImage)
   9.395 +  (:import (com.jme3.math Vector3f Quaternion)))
   9.396 +#+end_src
   9.397 +
   9.398 +#+name: test-proprioception-header
   9.399 +#+begin_src clojure
   9.400 +(ns cortex.test.proprioception
   9.401 +(:import (com.aurellem.capture Capture RatchetTimer))
   9.402 +(:use (cortex util world proprioception body))
   9.403 +(:import java.io.File))
   9.404 +(cortex.import/mega-import-jme3)
   9.405 +#+end_src
   9.406 +
   9.407 +* Source Listing
   9.408 +  - [[../src/cortex/proprioception.clj][cortex.proprioception]]
   9.409 +  - [[../src/cortex/test/touch.clj][cortex.test.proprioception]]
   9.410 +  - [[../src/cortex/video/magick6.clj][cortex.video.magick6]]
   9.411 +#+html: <ul> <li> <a href="../org/proprioception.org">This org file</a> </li> </ul>
   9.412 +  - [[http://hg.bortreb.com ][source-repository]]
   9.413 +
   9.414 +* Next 
   9.415 +
   9.416 +Next time, I'll give the Worm the power to [[./movement.org][move on it's own]].
   9.417 +
   9.418  
   9.419  * COMMENT generate source
   9.420  #+begin_src clojure :tangle ../src/cortex/proprioception.clj
   9.421 +<<proprioception-header>>
   9.422 +<<helpers>>
   9.423  <<proprioception>>
   9.424 +<<visualize>>
   9.425  #+end_src
   9.426 +
   9.427 +#+begin_src clojure :tangle ../src/cortex/test/proprioception.clj
   9.428 +<<test-proprioception-header>>
   9.429 +<<test-proprioception>>
   9.430 +#+end_src
   9.431 +
   9.432 +#+begin_src clojure :tangle ../src/cortex/video/magick6.clj
   9.433 +<<magick6>>
   9.434 +#+end_src

    10.1 --- a/org/touch.org	Mon Feb 13 21:53:28 2012 -0600
    10.2 +++ b/org/touch.org	Mon Feb 13 21:53:54 2012 -0600
    10.3 @@ -122,7 +122,7 @@
    10.4  #+end_src
    10.5  
    10.6  It is convienent to treat a =Triangle= as a vector of vectors, and a
    10.7 -=Vector2f= and =Vector3f= as vectors of floats. (->vector3f) and
    10.8 +=Vector2f= or =Vector3f= as vectors of floats. (->vector3f) and
    10.9  (->triangle) undo the operations of =(vector3f-seq)= and
   10.10  =(triangle-seq)=. If these classes implemented =Iterable= then =(seq)=
   10.11  would work on them automitacally.
   10.12 @@ -497,6 +497,7 @@
   10.13  I'll use a new creature --- a simple cube which has touch sensors
   10.14  evenly distributed along each of its sides.
   10.15  
   10.16 +#+name: test-touch-0
   10.17  #+begin_src clojure
   10.18  (in-ns 'cortex.test.touch)
   10.19  
   10.20 @@ -504,10 +505,7 @@
   10.21    (load-blender-model "Models/test-touch/touch-cube.blend"))
   10.22  #+end_src
   10.23  
   10.24 -#+begin_html
   10.25 -<br>
   10.26 -#+end_html
   10.27 -
   10.28 +** The Touch Cube
   10.29  #+begin_html
   10.30  <div class="figure">
   10.31  <center>
   10.32 @@ -527,12 +525,10 @@
   10.33  #+caption: The distribution of feelers along the touch-cube. The colors of the faces are irrelevant; only the white pixels specify feelers.
   10.34  [[../images/touch-profile.png]]
   10.35  
   10.36 +#+name: test-touch-1
   10.37  #+begin_src clojure
   10.38  (in-ns 'cortex.test.touch)
   10.39  
   10.40 -(import com.aurellem.capture.Capture)
   10.41 -(import java.io.File)
   10.42 -
   10.43  (defn test-basic-touch
   10.44    ([] (test-basic-touch false))
   10.45    ([record?]
   10.46 @@ -576,6 +572,7 @@
   10.47  #+end_html
   10.48  
   10.49  ** Generating the Basic Touch Video
   10.50 +#+name: magick4
   10.51  #+begin_src clojure
   10.52  (ns cortex.video.magick4
   10.53    (:import java.io.File)
   10.54 @@ -615,31 +612,88 @@
   10.55        background main-view touch targets))))
   10.56  #+end_src
   10.57  
   10.58 +#+begin_src sh :results silent
   10.59 +cd /home/r/proj/cortex/render/touch-cube/
   10.60 +ffmpeg -r 60 -i out/%07d.png -b:v 9000k -c:v libtheora basic-touch.ogg
   10.61 +#+end_src
   10.62  
   10.63  * Adding Touch to the Worm
   10.64  
   10.65 -#+name: test-touch
   10.66 +#+name: test-touch-2
   10.67  #+begin_src clojure
   10.68 -(ns cortex.test.touch
   10.69 -  (:use (cortex world util sense body touch))
   10.70 -  (:use cortex.test.body))
   10.71 +(in-ns 'cortex.test.touch)
   10.72  
   10.73 -(cortex.import/mega-import-jme3)
   10.74 +(defn test-touch 
   10.75 +  ([] (test-touch false))
   10.76 +  ([record?]
   10.77 +     (let [the-worm (doto (worm) (body!))
   10.78 +           touch (touch! the-worm)
   10.79 +           touch-display (view-touch)]
   10.80 +       (world
   10.81 +        (nodify [the-worm (floor)])
   10.82 +        standard-debug-controls
   10.83 +        
   10.84 +        (fn [world]
   10.85 +          (if record? 
   10.86 +            (Capture/captureVideo 
   10.87 +             world
   10.88 +             (File. "/home/r/proj/cortex/render/worm-touch/main-view/")))
   10.89 +          (speed-up world)
   10.90 +          (light-up-everything world))
   10.91  
   10.92 -(defn test-touch []
   10.93 -  (let [the-worm (doto (worm) (body!))
   10.94 -        touch (touch! the-worm)
   10.95 -        touch-display (view-touch)]
   10.96 -    (world (nodify [the-worm (floor)])
   10.97 -           standard-debug-controls
   10.98 -           
   10.99 -           (fn [world]
  10.100 -             (speed-up world)
  10.101 -             (light-up-everything world))
  10.102 +        (fn [world tpf]
  10.103 +          (touch-display 
  10.104 +           (map #(% (.getRootNode world)) touch)
  10.105 +           (if record? 
  10.106 +             (File. "/home/r/proj/cortex/render/worm-touch/touch/"))))))))
  10.107 +#+end_src
  10.108  
  10.109 -           (fn [world tpf]
  10.110 -             (touch-display 
  10.111 -              (map #(% (.getRootNode world)) touch))))))
  10.112 +** Worm Touch Demonstration 
  10.113 +#+begin_html
  10.114 +<div class="figure">
  10.115 +<center>
  10.116 +<video controls="controls" width="550">
  10.117 +  <source src="../video/worm-touch.ogg" type="video/ogg"
  10.118 +	  preload="none" poster="../images/aurellem-1280x480.png" />
  10.119 +</video>
  10.120 +</center>
  10.121 +<p>The worm responds to touch.</p>
  10.122 +</div>
  10.123 +#+end_html
  10.124 +
  10.125 +
  10.126 +** Generating the Worm Touch Video
  10.127 +#+name: magick5
  10.128 +#+begin_src clojure
  10.129 +(ns cortex.video.magick5
  10.130 +  (:import java.io.File)
  10.131 +  (:use clojure.contrib.shell-out))
  10.132 +
  10.133 +(defn images [path]
  10.134 +  (sort (rest (file-seq (File. path)))))
  10.135 +
  10.136 +(def base "/home/r/proj/cortex/render/worm-touch/")
  10.137 +
  10.138 +(defn pics [file]
  10.139 +  (images (str base file)))
  10.140 +
  10.141 +(defn combine-images []
  10.142 +  (let [main-view (pics "main-view")
  10.143 +        touch (pics "touch/0")
  10.144 +        targets (map
  10.145 +                 #(File. (str base "out/" (format "%07d.png" %)))
  10.146 +                 (range 0 (count main-view)))]
  10.147 +    (dorun
  10.148 +     (pmap
  10.149 +      (comp
  10.150 +       (fn [[ main-view touch target]]
  10.151 +         (println target)
  10.152 +         (sh "convert"
  10.153 +             main-view 
  10.154 +             touch     "-geometry" "+0+0" "-composite"
  10.155 +             target))
  10.156 +       (fn [& args] (map #(.getCanonicalPath %) args)))
  10.157 +       main-view touch targets))))
  10.158  #+end_src
  10.159  
  10.160  * Headers 
  10.161 @@ -661,9 +715,44 @@
  10.162    (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))
  10.163  #+end_src   
  10.164  
  10.165 +#+name: test-touch-header
  10.166 +#+begin_src clojure
  10.167 +(ns cortex.test.touch
  10.168 +  (:use (cortex world util sense body touch))
  10.169 +  (:use cortex.test.body)
  10.170 +  (:import com.aurellem.capture.Capture)
  10.171 +  (:import java.io.File)
  10.172 +  (:import (com.jme3.math Vector3f ColorRGBA)))
  10.173 +#+end_src
  10.174 +
  10.175  * Source Listing
  10.176 +  - [[../src/cortex/touch.clj][cortex.touch]]
  10.177 +  - [[../src/cortex/test/touch.clj][cortex.test.touch]]
  10.178 +  - [[../src/cortex/video/magick4.clj][cortex.video.magick4]]
  10.179 +  - [[../src/cortex/video/magick5.clj][cortex.video.magick5]]
  10.180 +#+html: <ul> <li> <a href="../org/touch.org">This org file</a> </li> </ul>
  10.181 +  - [[http://hg.bortreb.com ][source-repository]]
  10.182 +
  10.183  * Next
  10.184 +So far I've implemented simulated Vision, Hearing, and Touch, the most
  10.185 +obvious and promiment senses that humans have.  Smell and Taste shall
  10.186 +remain unimplemented for now. This accounts for the "five senses" that
  10.187 +feature so prominently in our lives. But humans have far more than the
  10.188 +five main senses. There are internal chemical senses, pain (which is
  10.189 +*not* the same as touch), heat sensitivity, and our sense of balance,
  10.190 +among others. One extra sense is so important that I must implement it
  10.191 +to have a hope of making creatures that can gracefully control their
  10.192 +own bodies.  It is Proprioception, which is the sense of the location
  10.193 +of each body part in relation to the other body parts.
  10.194  
  10.195 +Close your eyes, and touch your nose with your right index finger. How
  10.196 +did you do it? You could not see your hand, and neither your hand nor
  10.197 +your nose could use the sense of touch to guide the path of your hand.
  10.198 +There are no sound cues, and Taste and Smell certainly don't provide
  10.199 +any help. You know where your hand is without your other senses
  10.200 +because of Proprioception.
  10.201 +
  10.202 +Onward to [[./proprioception.org][proprioception]]!
  10.203  
  10.204  * COMMENT Code Generation
  10.205  #+begin_src clojure :tangle ../src/cortex/touch.clj
  10.206 @@ -678,11 +767,22 @@
  10.207  <<visualization>>
  10.208  #+end_src
  10.209  
  10.210 +#+begin_src clojure :tangle ../src/cortex/test/touch.clj 
  10.211 +<<test-touch-header>>
  10.212 +<<test-touch-0>>
  10.213 +<<test-touch-1>>
  10.214 +<<test-touch-2>>
  10.215 +#+end_src
  10.216  
  10.217 -#+begin_src clojure :tangle ../src/cortex/test/touch.clj 
  10.218 -<<test-touch>>
  10.219 +#+begin_src clojure :tangle ../src/cortex/video/magick4.clj
  10.220 +<<magick4>>
  10.221  #+end_src
  10.222  
  10.223 +#+begin_src clojure :tangle ../src/cortex/video/magick5.clj
  10.224 +<<magick5>>
  10.225 +#+end_src
  10.226 +
  10.227 +
  10.228  
  10.229  
  10.230