wassname/rl_2d_walker.js
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tweak joints for more motion

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wassname
2018-11-26 11:10:14 +08:00
parent e8ff35fb62
commit 28486b91ff
1 changed files with 29 additions and 18 deletions
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js/walker.js
+29 -18
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@@ -183,7 +183,7 @@ Walker.prototype.createArm = function() {
position.y -= this.arm_def.arm_length/2;
jd.Initialize(upper_arm, lower_arm, position);
jd.lowerAngle = 0;
jd.upperAngle = 1.22;
jd.upperAngle = Math.PI *4/5;
jd.enableLimit = true;
jd.maxMotorTorque = 60;
jd.motorSpeed = 0;
@@ -214,7 +214,7 @@ Walker.prototype.createHead = function() {
position.y += this.head_def.neck_height/2;
jd.Initialize(head, neck, position);
jd.lowerAngle = -0.1;
jd.upperAngle = 0.1;
jd.upperAngle = 0.2;
jd.enableLimit = true;
jd.maxMotorTorque = 2;
jd.motorSpeed = 0;
@@ -240,8 +240,8 @@ Walker.prototype.connectParts = function() {
position = this.torso.upper_torso.GetPosition().Clone();
position.y += this.torso_def.upper_height/2;
jd.Initialize(this.torso.upper_torso, this.right_arm.upper_arm, position);
jd.lowerAngle = -Math.PI/5;
jd.upperAngle = Math.PI/4;
jd.lowerAngle = -Math.PI/5*2;
jd.upperAngle = Math.PI/4*3;
jd.enableLimit = true;
jd.maxMotorTorque = 120;
jd.motorSpeed = 0;
@@ -250,8 +250,8 @@ Walker.prototype.connectParts = function() {
var jd = new b2.RevoluteJointDef();
jd.Initialize(this.torso.upper_torso, this.left_arm.upper_arm, position);
jd.lowerAngle = -Math.PI/5;
jd.upperAngle = Math.PI/4;
jd.lowerAngle = -Math.PI/5*2;
jd.upperAngle = Math.PI/4*3;
jd.enableLimit = true;
jd.maxMotorTorque = 120;
jd.motorSpeed = 0;
@@ -263,8 +263,8 @@ Walker.prototype.connectParts = function() {
position = this.torso.lower_torso.GetPosition().Clone();
position.y -= this.torso_def.lower_height/2;
jd.Initialize(this.torso.lower_torso, this.right_leg.upper_leg, position);
jd.lowerAngle = -Math.PI/8;
jd.upperAngle = Math.PI/7;
jd.lowerAngle = -Math.PI/8*2;
jd.upperAngle = Math.PI/7*2;
jd.enableLimit = true;
jd.maxMotorTorque = 250;
jd.motorSpeed = 0;
@@ -273,8 +273,8 @@ Walker.prototype.connectParts = function() {
var jd = new b2.RevoluteJointDef();
jd.Initialize(this.torso.lower_torso, this.left_leg.upper_leg, position);
jd.lowerAngle = -Math.PI/8;
jd.upperAngle = Math.PI/7;
jd.lowerAngle = -Math.PI/8*2;
jd.upperAngle = Math.PI/7*2;
jd.enableLimit = true;
jd.maxMotorTorque = 250;
jd.motorSpeed = 0;
@@ -303,9 +303,20 @@ Walker.prototype.getBodies = function() {
}
Walker.prototype.getState = function () {
return this.bodies
.map(b => b.GetPosition())
.reduce((o, p) => { o.push(p.x); o.push(p.y); return o }, [])
return this.bodies
.reduce((a, body) => {
var t = body.GetTransform()
var dt = body.GetLinearVelocity()
a.push(t.p.x)
a.push(t.p.y)
a.push(dt.x)
a.push(dt.y)
a.push(t.q.s)
a.push(t.q.c)
a.push(body.GetAngularVelocity())
return a
}, [])
}
Walker.prototype.simulationStep = function (motorSpeeds) {
@@ -316,7 +327,7 @@ Walker.prototype.simulationStep = function (motorSpeeds) {
}
/* score/reward */
var head_height_reward = this.head.head.GetPosition().y; // it's head should be above it's feet
var head_height_reward = this.head.head.GetPosition().y * 2; // it's head should be above it's feet 2*(-0.25-2)
// TODO reward for moving one leg beyond the other?
var left_leg_forward = this.right_leg.foot.GetPosition().x > this.left_leg.foot.GetPosition().x;
@@ -328,12 +339,12 @@ Walker.prototype.simulationStep = function (motorSpeeds) {
lin_vel_reward = 6 * velocity
// punish for using energy, squared
var quad_ctrl_cost = -0.1 * this.joints.map(j => j.GetJointSpeed()).reduce((sum, speed) => sum + speed ** 2)
var alive_bonus = 5
var quad_ctrl_cost = -0.01 * this.joints.map(j => j.GetJointSpeed()).reduce((sum, speed) => sum + speed ** 2)
var alive_bonus = 1
// we don't have data on external forces, so I will just punish for contact
var contacts = this.bodies.map(b => b.GetContactList()).filter(b => b).length
quad_impact_cost = -Math.min(contacts - 2, 10)/4
quad_impact_cost = -Math.min(contacts - 4, 10)/8
this.rewards = {
lin_vel_reward,
@@ -344,7 +355,7 @@ Walker.prototype.simulationStep = function (motorSpeeds) {
leg_switch_reward
}
this.reward = Object.values(this.rewards).reduce((tot,v)=>tot+v, 0)
this.reward = Object.values(this.rewards).reduce((tot,v)=>tot+v, 0)/10
this.last_left_left_forward = left_leg_forward