wassname/rl_2d_walker.js
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control of grip

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wassname
2018-11-30 10:36:18 +08:00
parent 0cc50d50a7
commit a2e79fff2b
3 changed files with 27 additions and 18 deletions
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js/agent.js
+1 -1
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@@ -21,7 +21,7 @@ function Agent(opt, world) {
};
Agent.prototype.init = function (actor, critic) {
var actions = this.walker.joints.length
var actions = this.walker.joints.length + 4
var temporal = 1
var states = this.walker.bodies.length * 10 + this.walker.joints.length * 3
js/game.js
+1 -1
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@@ -57,7 +57,7 @@ gameInit = function() {
var bodyParts = 14
var joints = 12
var state = bodyParts * 10 + joints * 3
var actions = joints
var actions = joints + 4
var input = 2 * state + 1 * actions
js/walker.js
+25 -16
View File
@@ -77,6 +77,7 @@ Walker.prototype.__constructor = function(world) {
}
this.joints = [];
this.grips = [false, false, false, false]
// this.frictionJoints = []
this.torso = this.createTorso();
@@ -103,23 +104,23 @@ Walker.prototype.__constructor = function(world) {
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)
// 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
self.right_leg.frictionJoint.maxForce = 1000 * self.grips[0]
self.right_leg.frictionJoint.maxTorque = 1000 * self.grips[0]
} 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
// console.log('grip on ' + otherFixture.m_body.m_userData)
self.left_leg.frictionJoint.maxForce = 1000 * self.grips[1]
self.left_leg.frictionJoint.maxTorque = 1000 * self.grips[1]
} else if (otherFixture.m_body.m_userData == "right_lower_arm") {
console.log('grip off ' + otherFixture.m_body.m_userData)
// 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
self.right_arm.frictionJoint.maxForce = 1000 * self.grips[2]
self.right_arm.frictionJoint.maxTorque = 1000 * self.grips[2]
} 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
// console.log('grip off ' + otherFixture.m_body.m_userData)
self.left_arm.frictionJoint.maxForce = 1000 * self.grips[3]
self.left_arm.frictionJoint.maxTorque = 1000 * self.grips[3]
}
}
}
@@ -127,21 +128,21 @@ Walker.prototype.__constructor = function(world) {
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)
// 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)
// 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)
// 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)
// console.log('grip off ' + otherFixture.m_body.m_userData)
self.left_arm.frictionJoint.maxForce = 0
self.left_arm.frictionJoint.maxTorque = 0
}
@@ -509,6 +510,14 @@ Walker.prototype.simulationPreStep = function (motorSpeeds) {
for (var k = 0; k < this.joints.length; k++) {
this.joints[k].SetMotorSpeed(motorSpeeds[k] * 10); // action can range from -3 to 3, radians per second
}
for (let i = this.joints.length; i < motorSpeeds.length; i++) {
this.grips[i] = motorSpeeds[i] > 0
}
if (motorSpeeds[0] <= 0) this.right_leg.frictionJoint.maxForce = this.right_leg.frictionJoint.maxTorque
if (motorSpeeds[1] <= 0) this.left_leg.frictionJoint.maxForce = this.left_leg.frictionJoint.maxTorque
if (motorSpeeds[2] <= 0) this.left_arm.frictionJoint.maxForce = this.left_arm.frictionJoint.maxTorque
if (motorSpeeds[3] <= 0) this.right_arm.frictionJoint.maxForce = this.right_arm.frictionJoint.maxTorque
// TODO turn of grups
}
Walker.prototype.simulationStep = function (motorSpeeds) {