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

     2.1 Binary file assets/Models/joint/joint.blend has changed

     3.1 --- a/org/joint.org	Mon Jul 23 03:51:42 2012 -0500
     3.2 +++ b/org/joint.org	Mon Jul 23 07:41:12 2012 -0500
     3.3 @@ -5,26 +5,25 @@
     3.4  The point of this joint is that it uses exploratory motor movements to
     3.5  learn how to move to any particular position.
     3.6  
     3.7 -visual-information -- list of functions which must each be called with the
     3.8 -world the argument, each of which returns [topology data]. Each element
     3.9 -of data is a number between 0 and 255 representing the intensity of
    3.10 -the light recieved at that sensor.
    3.11 +visual-information -- list of functions which must each be called with
    3.12 +the world the argument, each of which returns [topology data]. Each
    3.13 +element of data is a number between 0 and 255 representing the
    3.14 +intensity of the light recieved at that sensor.
    3.15  
    3.16  proprioception -- list of nullary functions, one for each joint, which
    3.17  return [heding pitch roll].
    3.18  
    3.19 +movement -- list of functions, one for each muscle, which must be
    3.20 +called with an integer between 0 and the total number of muscle fibers
    3.21 +in the muscle. Each function returns a float which is (current-force/
    3.22 +total-possible-force).
    3.23 +
    3.24  touch -- list of functions which must each be called with a Node
    3.25  (normally the root node of the simulation) the argument, each of which
    3.26  returns [topology data]. Each element of data is a posive float
    3.27  between 0.0 and the max length of the "hairs" of which the touch sense
    3.28  is composed.
    3.29  
    3.30 -movement -- list of functions, one for each muscle, which must be
    3.31 -called with an integer between 0 and the total number of muscle fibers
    3.32 -in the muscle. Each function returns a float which is (current-force/
    3.33 -total-possible-force).
    3.34 -
    3.35 -
    3.36  #+name: load-creature
    3.37  #+begin_src clojure
    3.38  (in-ns 'cortex.joint)
    3.39 @@ -34,10 +33,6 @@
    3.40  (defn load-creature []
    3.41    (load-blender-model joint))
    3.42  
    3.43 -
    3.44 -
    3.45 -
    3.46 -
    3.47  (defn test-creature []
    3.48    (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
    3.49          creature (doto (load-creature) (body!))
    3.50 @@ -73,17 +68,8 @@
    3.51       (fn [world tpf]
    3.52         (.setLocalTranslation me (.getLocation (.getCamera world)))
    3.53         (fix-display world)))))
    3.54 -
    3.55 -    
    3.56 -
    3.57 -
    3.58  #+end_src
    3.59  
    3.60 -
    3.61 -
    3.62 -
    3.63 -
    3.64 -
    3.65  * Headers
    3.66  #+name: joint-header
    3.67  #+begin_src clojure
    3.68 @@ -94,7 +80,6 @@
    3.69    (:import java.io.File)
    3.70    (:import (com.aurellem.capture RatchetTimer IsoTimer)))
    3.71  
    3.72 -
    3.73  (cortex.import/mega-import-jme3)
    3.74  (rlm.rlm-commands/help)
    3.75  #+end_src