In attempts to understand c-elegans robot better, I wanted to get more hands-on experience in simulating how the connectome behaves under certain pokes and pings
Data comes from from https://github.com/openworm/data-viz/tree/master/HivePlots
the object moves without any programming about how it should move, it just has hooks to muscle neurons as if it owns left/right wheels, but the network lights up on its own
$ go run *.go
$ curl http://localhost:8080/ping?ASGR # give it food, and watch it go
$ curl http://localhost:8080/ | dot -x -Tsvg > out.svg # will take a while
when you start it it spins up and starts doing things forever, due to the nature of the connections
2016/02/14 23:12:05 move left: -4
2016/02/14 23:12:05 move right: -24
2016/02/14 23:12:05 move left: -15
2016/02/14 23:12:05 move right: -1
2016/02/14 23:12:06 move left: -16
2016/02/14 23:12:06 move right: 3
2016/02/14 23:12:06 move left: 31
2016/02/14 23:12:06 move right: -13
2016/02/14 23:12:06 move left: -12
use $ curl http://localhost:8080/debug to toggle debug print
2016/02/14 21:20:21 RIBR activated, nReceived: 31
2016/02/14 21:20:21 VD12 activated, nReceived: 9
2016/02/14 21:20:21 VA5 activated, nReceived: 20
2016/02/14 21:20:21 AVL activated, nReceived: 26
2016/02/14 21:20:21 DD2 activated, nReceived: 95
2016/02/14 21:20:21 RMFL activated, nReceived: 11
2016/02/14 21:20:21 AS6 activated, nReceived: 10
2016/02/14 21:20:21 DA5 activated, nReceived: 25
2016/02/14 21:20:21 VD2 activated, nReceived: 76
2016/02/14 21:20:21 AS9 activated, nReceived: 20
2016/02/14 21:20:21 VB8 activated, nReceived: 28
2016/02/14 21:20:21 AVAR activated, nReceived: 233
for now just spawn the c.elegans as a player in simple terminal 2d world, started by go run *.go -game and then show it food with curl http://localhost:8080/ping?ASGR
i used map from neuron to fake body parts from https://github.com/Connectome/GoPiGo/blob/master/connectome.py
def AVFL():
...
postSynaptic['HSNL'][nextState] += 1
postSynaptic['MVL11'][nextState] += 1
postSynaptic['MVL12'][nextState] += 1
i just map to:
AVFL;LEFT;FAKE;1;FAKE
AVFL;LEFT;FAKE;1;FAKE
and on i link neuron LEFT to body.left muscle, so body.left.delta() shows how much it wants to move left