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Do unbuffered writes in reporting mode
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@spMohanty
spMohanty committed Jan 4, 2018
1 parent aba407b commit c71cf22
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Showing 2 changed files with 21 additions and 21 deletions.
40 changes: 20 additions & 20 deletions osim/env/run.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,16 +46,17 @@ def __init__(self, visualize = True, max_obstacles = 3, report = None):
manager.integrate(state)

if report:
self.observations_file = open("%s-obs.csv" % (report,),"w")
self.actions_file = open("%s-act.csv" % (report,),"w")
bufsize = 0
self.observations_file = open("%s-obs.csv" % (report,),"w", bufsize)
self.actions_file = open("%s-act.csv" % (report,),"w", bufsize)
self.get_headers()


def setup(self, difficulty, seed=None):
# create the new env
# set up obstacles
self.env_desc = self.generate_env(difficulty, seed, self.max_obstacles)

self.clear_obstacles(self.osim_model.state)
for x,y,r in self.env_desc['obstacles']:
self.add_obstacle(self.osim_model.state,x,y,r)
Expand Down Expand Up @@ -86,7 +87,7 @@ def compute_reward(self):

def is_pelvis_too_low(self):
return (self.current_state[self.STATE_PELVIS_Y] < 0.65)

def is_done(self):
return self.is_pelvis_too_low() or (self.istep >= self.spec.timestep_limit)

Expand All @@ -113,7 +114,7 @@ def configure(self):
# Right foot
for i in range(self.osim_model.forceSet.get(18).getRecordLabels().size()):
print(i,self.osim_model.forceSet.get(18).getRecordLabels().get(i))

# Left foot
for i in range(self.osim_model.forceSet.get(19).getRecordLabels().size()):
print(i,self.osim_model.forceSet.get(19).getRecordLabels().get(i))
Expand All @@ -137,7 +138,7 @@ def next_obstacle(self):
ret[0] = ret[0] - x
return ret
return [100,0,0]

def _step(self, action):
self.last_state = self.current_state
return super(RunEnv, self)._step(action)
Expand All @@ -160,7 +161,7 @@ def get_headers(self):
body_transforms = [[body + ".pos." + tmp[i] for i in range(2)] for body in bodies]

muscles = [ "psoas_l.strength", "psoas_r.strength"]

# see the next obstacle
obstacle = ["obstacle.delta_x","obstacle.y","obstacle.radius"]

Expand All @@ -173,7 +174,7 @@ def get_headers(self):

act_str_lst = ["idx"] + [self.osim_model.muscleSet.get(i).getName() for i in range(18)]
obs_str_lst = ["idx"] + current_state_header + [self.osim_model.muscleSet.get(i).getName() for i in range(18)] + foot_forces

self.actions_file.write( ", ".join(act_str_lst) + "\n")
self.observations_file.write( ", ".join(obs_str_lst) + "\n")

Expand All @@ -187,13 +188,13 @@ def get_observation(self):
joint_angles = [self.osim_model.get_joint(jnts[i]).getCoordinate().getValue(self.osim_model.state) for i in range(6)]
joint_vel = [self.osim_model.get_joint(jnts[i]).getCoordinate().getSpeedValue(self.osim_model.state) for i in range(6)]

mass_pos = [self.osim_model.model.calcMassCenterPosition(self.osim_model.state)[i] for i in range(2)]
mass_pos = [self.osim_model.model.calcMassCenterPosition(self.osim_model.state)[i] for i in range(2)]
mass_vel = [self.osim_model.model.calcMassCenterVelocity(self.osim_model.state)[i] for i in range(2)]

body_transforms = [[self.osim_model.get_body(body).getTransformInGround(self.osim_model.state).p()[i] for i in range(2)] for body in bodies]

muscles = [ self.env_desc['muscles'][self.MUSCLES_PSOAS_L], self.env_desc['muscles'][self.MUSCLES_PSOAS_R] ]

# see the next obstacle
obstacle = self.next_obstacle()

Expand All @@ -211,7 +212,7 @@ def get_observation(self):
# print(self.istep, act_str_lst)
self.actions_file.write( ", ".join(act_str_lst) + "\n")
self.observations_file.write( ", ".join(obs_str_lst) + "\n")

return self.current_state

def create_obstacles(self):
Expand All @@ -238,13 +239,13 @@ def create_obstacles(self):

force = opensim.HuntCrossleyForce()
force.setName(name + '-force')

force.addGeometry(name + '-contact')
force.addGeometry("r_heel")
force.addGeometry("l_heel")
force.addGeometry("r_toe")
force.addGeometry("l_toe")

force.setStiffness(1.0e6/r)
force.setDissipation(1e-5)
force.setStaticFriction(0.0)
Expand All @@ -269,7 +270,7 @@ def clear_obstacles(self, state):

self.num_obstacles = 0
pass

def add_obstacle(self, state, x, y, r):
# set obstacle number num_obstacles
contact_generic = self.osim_model.get_contact_geometry("%d-contact" % self.num_obstacles)
Expand All @@ -282,8 +283,8 @@ def add_obstacle(self, state, x, y, r):

joint_generic = self.osim_model.get_joint("%d-joint" % self.num_obstacles)
joint = opensim.PlanarJoint.safeDownCast(joint_generic)
newpos = [x,y]

newpos = [x,y]
for i in range(2):
joint.getCoordinate(1 + i).setLocked(state, False)
joint.getCoordinate(1 + i).setValue(state, newpos[i], False)
Expand All @@ -301,7 +302,7 @@ def generate_env(self, difficulty, seed, max_obstacles):
xs = []
ys = []
rs = []

if 0 < difficulty:
num_obstacles = min(3, max_obstacles)
xs = np.random.uniform(1.0, 5.0, num_obstacles)
Expand All @@ -327,7 +328,7 @@ def generate_env(self, difficulty, seed, max_obstacles):
lpsoas = max(0.5, lpsoas)

muscles = [1] * 18

# modify only psoas
muscles[self.MUSCLES_PSOAS_R] = rpsoas
muscles[self.MUSCLES_PSOAS_L] = lpsoas
Expand All @@ -339,4 +340,3 @@ def generate_env(self, difficulty, seed, max_obstacles):
'muscles': muscles,
'obstacles': obstacles
}

2 changes: 1 addition & 1 deletion setup.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@

# This provides the variable `__version__`.
# execfile('opensim/version.py')
__version__ = "1.5.4"
__version__ = "1.5.5"

setup(name='osim-rl',
version=__version__,
Expand Down

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