balls

README.md

@@ -20,19 +20,22 @@ TODO: Write usage instructions
 
 ## TODO
 
-- make walker into an env, with reset, done etc
-- display save loss curves... everything from info
-- make diff env's, copy humanoidwalker, humanoid, learning2run etc
-- display
-    - display/save time for each agent
-        - globals.step_counter
-    - x progress
-    - smile frown?
-    - save checkpoints
+- [x] make walker into an env, with reset, done etc
+- [x] display save loss curves... everything from info
+- [x] make diff env's, copy humanoidwalker, humanoid, learning2run etc
+- [ ] display
+    - [x] display/save time for each agent
+        - [x] globals.step_counter
+    - [x] x progress
+    - [ ] smile frown?
+    - [ ] fix my frameskip
+    - [x] save checkpoints
 - [ ] obstacles later on
-- [ ] load pretrained
-- [ ] reward hacking
-    - [ ] head high, feet on ground, legs crossing, moving forward, angles near 0
+    - [x] balls
+    - [ ] Allow user to chuck bouncing balls. Some can remain as obstacles
+- [x] load pretrained
+- [x] reward hacking
+    - [x] head high, feet on ground, legs crossing, moving forward, angles near 0
 
 # Credits
 
@@ -41,6 +44,10 @@ TODO: Write usage instructions
 
 # Notes
 
-- Without node: Training: 52732.152ms
-- With node:    Training: 17211.739ms
-- With cuda     LoopTime: 12583.449ms
+- Training times:
+    - Without node: Training: 52732.152ms
+    - With node:    Training: 17211.739ms
+    - With cuda     LoopTime: 12583.449ms
+- tfjs-node-gpu needs python2 to compile
+
+- is is slipping, what about with more friction?

src/js/renderer.js

@@ -25,9 +25,11 @@ class Renderer {
   }
 
   drawFrame() {
+    // clear
     this.ctx.clearRect(0, 0, this.main_screen.width, this.main_screen.height);
     this.ctx.save();
 
+    // camera
     var minmax = this.getMinMaxDistance();
     this.target_zoom = Math.min(this.config.max_zoom_factor, this.getZoom(minmax.min_x, minmax.max_x + 4, minmax.min_y + 2, minmax.max_y + 2.5));
     this.zoom += 0.1 * (this.target_zoom - this.zoom);
@@ -36,13 +38,36 @@ class Renderer {
     this.ctx.translate(this.translate_x * this.zoom, this.translate_y);
     this.ctx.scale(this.zoom, -this.zoom);
 
+    // bodies
     this.drawFloor();
+
     for (var k = this.config.population_size - 1; k >= 0; k--) {
       this.drawWalker(this.walkers[k]);
     }
+
+    for (let i = 0; i < this.walkers[0].balls.length; i++) {
+      const ball = this.walkers[0].balls[i];
+      this.drawCircle(ball)
+      
+    }
+
+
     this.ctx.restore();
   }
 
+  drawCircle(body) { 
+    // set strokestyle and fillstyle before call
+    this.ctx.beginPath();
+    var fixture = body.GetFixtureList();
+    var shape = fixture.GetShape();
+    var p0 = body.GetWorldPoint(shape.m_p);
+    let radius = shape.m_radius
+    // this.ctx.moveTo(p0.x, p0.y);
+    this.ctx.arc(p0.x, p0.y, radius, 0, Math.PI*2)
+    this.ctx.fill();
+    this.ctx.stroke();
+  }
+
   drawFloor() {
     this.ctx.strokeStyle = "#444";
     this.ctx.lineWidth = 1 / this.zoom;
@@ -62,10 +87,7 @@ class Renderer {
     this.ctx.lineWidth = 1 / this.zoom;
 
     // left legs and arms first
-    this.drawRect(walker.left_leg.lower_leg);
-    this.drawRect(walker.left_leg.upper_leg);
-    this.drawRect(walker.left_arm.upper_arm);
-    this.drawRect(walker.left_arm.lower_arm);
+
 
     this.ctx.lineWidth = walker.left_leg.frictionJoint.maxForce ? 4 / this.zoom : 1 / this.zoom;
     this.drawRect(walker.left_leg.foot);
@@ -75,6 +97,12 @@ class Renderer {
     this.drawRect(walker.left_arm.hand);
     this.ctx.lineWidth = 1 / this.zoom;
 
+    this.drawRect(walker.left_leg.lower_leg);
+    this.drawRect(walker.left_leg.upper_leg);
+    this.drawRect(walker.left_arm.lower_arm);
+    this.drawRect(walker.left_arm.upper_arm);
+
+
     // head
     this.drawRect(walker.head.neck);
     this.drawRect(walker.head.head);

src/js/walker.js

@@ -95,13 +95,14 @@ class Walker {
     this.fd = new b2.FixtureDef();
     this.fd.density = this.density;
     this.fd.restitution = 0.1; // bounciness
-    this.fd.friction = 100; // only on contact (grip)
+    this.fd.friction = 10000; // only on contact (grip)
     this.fd.shape = new b2.PolygonShape();
     this.fd.filter.groupIndex = -1;
 
     this.joints = [];
     this.otherJoints = []
     this.otherBodies = []
+    this.balls = []
     this.grips = [false, false, false, false]
     // this.frictionJoints = []
 
@@ -170,10 +171,16 @@ class Walker {
   destroy() {
     this.joints.map(joint => this.world.DestroyJoint(joint))
     this.otherJoints.map(joint => this.world.DestroyJoint(joint))
+
     this.bodies.map(body => body.DestroyFixture(body.GetFixtureList()))
     this.bodies.map(body => this.world.DestroyBody(body))
+
+    this.balls.map(body => body.DestroyFixture(body.GetFixtureList()))
+    this.balls.map(body => this.world.DestroyBody(body))
+
     this.bodies = []
     this.joints = []
+    this.balls = []
     this.otherJoints = []
   }
 
@@ -473,6 +480,33 @@ class Walker {
     this.joints.push(j);
   }
 
+  addBall(x, y, r) { 
+    var bodyDef = new b2.BodyDef()
+    bodyDef.type = b2.Body.b2_dynamicBody
+    bodyDef.position.x = x
+    bodyDef.position.y = y
+    var ball = this.world.CreateBody(bodyDef);
+
+    // Create a circle shape and set its radius to 6
+    var circle = new b2.CircleShape();
+    // circle.setRadius(6)
+    circle.m_radius=r
+
+
+    // Create a fixture definition to apply our shape to
+    var fixtureDef = new b2.FixtureDef();
+    fixtureDef.shape = circle;
+    fixtureDef.density = 0.5; 
+    fixtureDef.friction = 0.4;
+    fixtureDef.restitution = 0.6; // Make it bounce a little bit
+
+    // Create our fixture and attach it to the body
+    var fixture = ball.CreateFixture(fixtureDef);
+    // circle.dispose();
+
+    this.balls.push(ball)
+  }
+
   getBodies() {
 
     return [
@@ -491,7 +525,7 @@ class Walker {
       this.left_leg.foot,
       this.right_leg.upper_leg,
       this.right_leg.lower_leg,
-      this.right_leg.foot
+      this.right_leg.foot,
     ];
   }
 
@@ -554,7 +588,12 @@ class Walker {
         @action: (Integer) The action to take (can be null if no action)
     */
 
+    if (Math.random() < 0.05) {
+       this.addBallOnWalker()
+    }
+
     // repeat actions
+    // FIXME I need to delay between drawing each frame. Right now action repeat makes it look like frames are skipping
     for (let i = 0; i < this.config.action_repeat; i++) {
       // TODO add sitcky actions once it's working
       this.world.ClearForces();
@@ -612,7 +651,8 @@ class Walker {
       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
+      center_y: this.torso.upper_torso.GetPosition().y,
+      mean_foot_height
     }
 
     this.reward = Object.values(this.rewards).reduce((tot, v) => tot + v, 0) / 3
@@ -642,16 +682,28 @@ class Walker {
       this.steping = false;
     }
   }
+
+  addBallOnWalker() {
+    let p = this.torso.upper_torso.GetPosition()
+    this.addBall(p.x, randf(1, 4), randf(0.03,0.3))
+  }
+
+
   reset() {
     /** Reset position to initial or random position TODO */
     // console.log('reset not implemented')
     if (this.bodies) this.destroy();
     this.build();
     this.initGrip()
+    
     this.episodeSteps = 0
 
     this.randomise(0.5)
 
+    this.addBallOnWalker()
+    this.addBallOnWalker()
+    this.addBallOnWalker()
+
     // run for a few warm up steps (to let it fall over... we don't want to reward it just for restarting the episode upright)
     for (let i = 0; i < 200; i++) {
       this.world.Step(1 / this.config.time_step, this.config.velocity_iterations, this.config.position_iterations);
@@ -659,7 +711,7 @@ class Walker {
       this.world.Step(1 / this.config.time_step, this.config.velocity_iterations, this.config.position_iterations);
       if (typeof WEB !== "undefined") this.renderer.drawFrame()
     }
-    console.debug('warm up finished')
+    // console.debug('warm up finished')
   }
   shuffle() {
     /** Reset position to initial or random position TODO */