wassname/rl_2d_walker.js
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grip on foor and lower arm (no control yet)

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wassname
2018-11-30 10:23:39 +08:00
parent fb0c122aee
commit 0cc50d50a7
3 changed files with 94 additions and 20 deletions
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js/agent.js
+11 -8
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@@ -27,8 +27,8 @@ Agent.prototype.init = function (actor, critic) {
var input = window.neurojs.Agent.getInputDimension(states, actions, temporal)
// Example params https://github.com/udacity/deep-reinforcement-learning/blob/master/ddpg-bipedal/ddpg_agent.py
this.brain = new window.neurojs.Agent({
actor: actor,
critic: critic,
@@ -39,18 +39,21 @@ Agent.prototype.init = function (actor, critic) {
temporalWindow: temporal,
discount: 0.97, // time discount
rate: 0.001, // learning rate,
theta: 0.05, // progressive copy
alpha: 0.1, // advantage learning
discount: 0.99, // time discount
rate: 3e-4, // learning rate,
theta: 1e-3, // progressive copy
// alpha: 0.1, // advantage learning
// buffer: window.neurojs.Buffers.UniformReplayBuffer,
experience: 3e3,
experience: 100e3,
learningPerTick: 40,
startLearningAt: 900,
learningPerTick: 128,
startLearningAt: 3000,
})
this.brain.algorithm.critic.optim.regularization.l2 = 0.0001
this.brain.algorithm.actor.optim.regularization.l2 = 0.0001
// this.world.brains.shared.add('actor', this.brain.algorithm.actor)
this.world.brains.shared.add('critic', this.brain.algorithm.critic)
js/floor.js
+1
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@@ -1,6 +1,7 @@
function createFloor() {
var body_def = new b2.BodyDef();
var body = globals.world.CreateBody(body_def);
body.SetUserData('floor')
var fix_def = new b2.FixtureDef();
fix_def.friction = 0.8;
fix_def.shape = new b2.ChainShape();
js/walker.js
+82 -12
View File
@@ -33,14 +33,14 @@ Walker.prototype.__constructor = function(world) {
this.bd.position.x += Math.randf(-10, 10)
this.bd.type = b2.Body.b2_dynamicBody;
this.bd.linearDamping = 0;
this.bd.angularDamping = 20; // decay in force
this.bd.angularDamping = 20; // decay in force/ air friction
this.bd.allowSleep = true;
this.bd.awake = true;
this.fd = new b2.FixtureDef();
this.fd.density = this.density;
this.fd.restitution = 0.1;
this.fd.friction = 100000; // only on contact (grip)
this.fd.restitution = 0.1; // bounciness
this.fd.friction = 100; // only on contact (grip)
this.fd.shape = new b2.PolygonShape();
this.fd.filter.groupIndex = -1;
@@ -77,6 +77,7 @@ Walker.prototype.__constructor = function(world) {
}
this.joints = [];
// this.frictionJoints = []
this.torso = this.createTorso();
this.left_leg = this.createLeg('left_');
@@ -91,6 +92,63 @@ Walker.prototype.__constructor = function(world) {
// now apply a random starting positions and orientation
this.randomise(0.5);
// add grip
// we don't have data on external forces, so I will just punish for contact with the ground
http://blog.sethladd.com/2011/09/box2d-collision-damage-for-javascript.html
// However we could use a listener or calc force
var self = this
this.contactListener = new b2.ContactListener()
this.contactListener.BeginContact = function (contact, impulse) {
if (contact.m_fixtureA.m_body.m_userData == "floor" | contact.m_fixtureB.m_body.m_userData) {
var otherFixture = contact.m_fixtureA.m_body.m_userData == "floor" ? contact.m_fixtureB : contact.m_fixtureA
if (otherFixture.m_body.m_userData == "right_foot") {
console.log('grip on ' + otherFixture.m_body.m_userData)
// TODO let the agent act to grip or not. Only if palm or foot down?
self.right_leg.frictionJoint.maxForce = 1000
self.right_leg.frictionJoint.maxTorque = 1000
} else if (otherFixture.m_body.m_userData == "left_foot") {
console.log('grip on ' + otherFixture.m_body.m_userData)
self.left_leg.frictionJoint.maxForce = 1000
self.left_leg.frictionJoint.maxTorque = 1000
} else if (otherFixture.m_body.m_userData == "right_lower_arm") {
console.log('grip off ' + otherFixture.m_body.m_userData)
// TODO let the agent act to grip or not
self.right_arm.frictionJoint.maxForce = 1000
self.right_arm.frictionJoint.maxTorque = 1000
} else if (otherFixture.m_body.m_userData == "left_lower_arm") {
console.log('grip off ' + otherFixture.m_body.m_userData)
self.left_arm.frictionJoint.maxForce = 1000
self.left_arm.frictionJoint.maxTorque = 1000
}
}
}
this.contactListener.EndContact = function (contact, impulse) {
if (contact.m_fixtureA.m_body.m_userData == "floor" | contact.m_fixtureB.m_body.m_userData) {
var otherFixture = contact.m_fixtureA.m_body.m_userData == "floor" ? contact.m_fixtureB : contact.m_fixtureA
if (otherFixture.m_body.m_userData == "right_foot") {
console.log('grip off ' + otherFixture.m_body.m_userData)
// TODO let the agent act to grip or not
setTimeout(() => { self.right_leg.frictionJoint.maxForce = 0 }, 100)
setTimeout(() => { self.right_leg.frictionJoint.maxTorque = 0 }, 100)
} else if (otherFixture.m_body.m_userData == "left_foot") {
console.log('grip off ' + otherFixture.m_body.m_userData)
self.left_leg.frictionJoint.maxForce = 0
self.left_leg.frictionJoint.maxTorque = 0
} else if (otherFixture.m_body.m_userData == "right_lower_arm") {
console.log('grip off ' + otherFixture.m_body.m_userData)
// TODO let the agent act to grip or not
setTimeout(() => { self.right_arm.frictionJoint.maxForce = 0 }, 100)
setTimeout(() => { self.right_arm.frictionJoint.maxTorque = 0 }, 100)
} else if (otherFixture.m_body.m_userData == "left_lower_arm") {
console.log('grip off ' + otherFixture.m_body.m_userData)
self.left_arm.frictionJoint.maxForce = 0
self.left_arm.frictionJoint.maxTorque = 0
}
}
}
globals.world.SetContactListener(this.contactListener)
}
Walker.prototype.createTorso = function() {
@@ -157,13 +215,14 @@ Walker.prototype.createLeg = function(label) {
foot.SetUserData(label + 'foot')
// foot.GetLinearDamping(100)
// var fjd = new b2.FrictionJointDef();
// var position = new b2.Vec2(0,0)
// fjd.Initialize(foot, globals.floor, position)
// fjd.maxForce = 100; //This the most force the joint will apply to your object. The faster its moving the more force applied
// fjd.maxTorque = 100; //Set to 0 to prevent rotation
// var frictionJoint = this.world.CreateJoint(fjd)
// // TODO only present when colliding?
var fjd = new b2.FrictionJointDef();
var position = new b2.Vec2(0,0)
fjd.Initialize(foot, globals.floor, position)
fjd.maxForce = 0; //This the most force the joint will apply to your object. The faster its moving the more force applied
fjd.maxTorque = 0; //Set to 0 to prevent rotation
fjd.userData = label+'foot_friction_joint'
fjd.collideConnected = true
var frictionJoint = this.world.CreateJoint(fjd)
// leg joints
var jd = new b2.RevoluteJointDef();
@@ -196,7 +255,7 @@ Walker.prototype.createLeg = function(label) {
j.SetUserData(label + 'foot_joint')
this.joints.push(j);
return {upper_leg: upper_leg, lower_leg: lower_leg, foot:foot};
return {upper_leg: upper_leg, lower_leg: lower_leg, foot:foot, frictionJoint:frictionJoint};
}
Walker.prototype.createArm = function(label) {
@@ -235,6 +294,16 @@ Walker.prototype.createArm = function(label) {
// // TODO this seems to preclude colliding, so made an ankle that has this?
var fjd = new b2.FrictionJointDef();
var position = new b2.Vec2(0,0)
fjd.Initialize(lower_arm, globals.floor, position)
fjd.maxForce = 0; //This the most force the joint will apply to your object. The faster its moving the more force applied
fjd.maxTorque = 0; //Set to 0 to prevent rotation
fjd.userData = label+'hand_friction_joint'
fjd.collideConnected = true
var frictionJoint = this.world.CreateJoint(fjd)
// arm join
var jd = new b2.RevoluteJointDef();
var position = upper_arm.GetPosition().Clone();
@@ -267,7 +336,8 @@ Walker.prototype.createArm = function(label) {
return {
upper_arm: upper_arm, lower_arm: lower_arm,
// hand: hand
// hand: hand,
frictionJoint:frictionJoint
};
}