wassname/rl_2d_walker.js
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change arm length, chuck balls

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wassname
2018-12-07 06:54:29 +08:00
parent 45b6ead541
commit abab0581ea
1 changed files with 14 additions and 11 deletions
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src/js/walker.js
+14 -11
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@@ -34,7 +34,8 @@ class Walker {
this.hue = randf(200, 360)
// http://www.ele.uri.edu/faculty/vetter/BME207/anthropometric-data.pdf
// https://multisite.eos.ncsu.edu/www-ergocenter-ncsu-edu/wp-content/uploads/sites/18/2016/06/Anthropometric-Detailed-Data-Tables.pdf
this.torso_def = {
upper_width: 0.25,
upper_height: 0.45,
@@ -53,7 +54,7 @@ class Walker {
this.arm_def = {
arm_width: 0.12,
arm_length: 0.37,
arm_length: 0.35,
forearm_width: 0.1,
forearm_length: 0.30,
hand_height: 0.08,
@@ -497,7 +498,7 @@ class Walker {
// Create a fixture definition to apply our shape to
var fixtureDef = new b2.FixtureDef();
fixtureDef.shape = circle;
fixtureDef.density = 20;
fixtureDef.density = 80;
fixtureDef.friction = 0.4;
fixtureDef.restitution = 0.6; // Make it bounce a little bit
@@ -605,6 +606,7 @@ class Walker {
}
this.steps++
this.episodeSteps++
if ((typeof WEB === "undefined") && (this.steps%600)) this.shuffle()
/* score/reward */
// reward copied from OpenAI Gym Humanoid Walker https://github.com/openai/gym/blob/master/gym/envs/mujoco/humanoid.py
// also see https://github.com/AdamStelmaszczyk/learning2run/blob/master/osim-rl/osim/env/run.py#L67
@@ -650,12 +652,7 @@ class Walker {
quad_joint_angle_cost,
bonus_happiness,
head_height_reward,
leg_switch_reward,
head_height: (this.head.head.GetPosition().y - mean_foot_height),
center_x: this.torso.upper_torso.GetPosition().x,
center_y: this.torso.upper_torso.GetPosition().y,
mean_foot_height,
date: new Date(),
leg_switch_reward
}
this.reward = Object.values(this.rewards).reduce((tot, v) => tot + v, 0) / 3
@@ -665,6 +662,11 @@ class Walker {
steps: this.steps,
reward: this.reward,
position,
head_height: (this.head.head.GetPosition().y - mean_foot_height),
center_x: this.torso.upper_torso.GetPosition().x,
center_y: this.torso.upper_torso.GetPosition().y,
mean_foot_height,
date: new Date(),
...this.rewards
}
var done = 0
@@ -694,8 +696,8 @@ class Walker {
chuckBalls() {
for (const ball of this.balls) {
let pb = ball.GetPosition()
let dx = (this.torso.upper_torso.GetPosition().x-pb.x)*4
let dy = (this.torso.upper_torso.GetPosition().y - pb.y) * 6
let dx = (this.torso.upper_torso.GetPosition().x-pb.x)*10
let dy = (this.torso.upper_torso.GetPosition().y - pb.y) * 10
dx = clamp(dx, -16, 16)
dy = clamp(dy, -16, 16)
ball.SetLinearVelocity(new b2.Vec2(dx,dy))
@@ -714,6 +716,7 @@ class Walker {
this.randomise(0.5)
this.addBallOnWalker()
this.addBallOnWalker()
this.addBallOnWalker()