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[osim] observation space updated (knee angles)

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smsong committed Jul 27, 2019
1 parent d152746 commit 5d9ec97501a671dfcfe1c2f7e2edf19d3615d891
Showing with 1 addition and 1 deletion.
  1. +1 −1 osim/env/osim.py
@@ -433,7 +433,7 @@ class L2M2019Env(OsimEnv):
obs_body_space[:,[11 + x for x in [0, 44]]] = np.array([[-10, 10]]).transpose() # (r, l) ground reaction force normalized to bodyweight (upward)
obs_body_space[:,[12 + x for x in [0, 44]]] = np.array([[-45*np.pi/180, 90*np.pi/180]]).transpose() # (r, l) joint: (+) hip abduction
obs_body_space[:,[13 + x for x in [0, 44]]] = np.array([[-180*np.pi/180, 45*np.pi/180]]).transpose() # (r, l) joint: (+) hip extension
obs_body_space[:,[14 + x for x in [0, 44]]] = np.array([[-180*np.pi/180, 0]]).transpose() # (r, l) joint: (+) knee extension
obs_body_space[:,[14 + x for x in [0, 44]]] = np.array([[-180*np.pi/180, 15*np.pi/180]]).transpose() # (r, l) joint: (+) knee extension
obs_body_space[:,[15 + x for x in [0, 44]]] = np.array([[-45*np.pi/180, 90*np.pi/180]]).transpose() # (r, l) joint: (+) ankle extension (plantarflexion)
obs_body_space[:,[16 + x for x in [0, 44]]] = np.array([[-5*np.pi, 5*np.pi]]).transpose() # (r, l) joint: (+) hip abduction
obs_body_space[:,[17 + x for x in [0, 44]]] = np.array([[-5*np.pi, 5*np.pi]]).transpose() # (r, l) joint: (+) hip extension

4 comments on commit 5d9ec97

@spMohanty

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replied Jul 29, 2019

@smsong : The evaluator is not using this change now. Please do make a new release, and push it to PyPi for the evaluator to be able to use it.

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replied Jul 29, 2019

@spMohanty Thank you for the note. I made a new release version="3.0.4"

@drozzy

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replied Aug 2, 2019

Still getting an error:

ValueError: ('Observation outside expected value range', Box(339,), array([ 1.79295193e+00,  1.79964586e+00,  1.79246373e+00
 1.73934380e+00,  1.69668780e+00,  1.64622175e+00,  1.59035978e+00,                                                                                                                                                                                     
        1.53119996e+00,  1.47036559e+00,  1.40958967e+00,  1.79185845e+00,                                                                                                                                                                                     
        1.79999385e+00,  1.79135583e+00,  1.76674069e+00,  1.72809064e+00,                                                                                                                                                                                     
        1.67807013e+00,  1.61976576e+00,  1.55628422e+00,  1.49013495e+00,                                                                                                                                                                                     
        1.42322667e+00,  1.35745955e+00,  1.78959937e+00,  1.79946856e+00,                                                                                                                                                                                     
        1.78897470e+00,  1.75916087e+00,  1.71284662e+00,  1.65374805e+00,                                                                                                                                                                                     
        1.58608937e+00,  1.51385827e+00,  1.43999836e+00,  1.36670874e+00,                                                                                                                                                                                     
        1.29598742e+00,  1.78694749e+00,  1.79922782e+00,  1.78605743e+00,                                                                                                                                                                                     
        1.74906006e+00,  1.69254201e+00,  1.62184307e+00,  1.54283858e+00,                                                                                                                                                                                     
        1.46059789e+00,  1.37842781e+00,  1.29874559e+00,  1.22348021e+00,                                                                                                                                                                                     
        1.27870301e+00,  1.32060337e+00,  1.27675337e+00,  1.15607735e+00,                                                                                                                                                                                     
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@smsong

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replied Aug 5, 2019

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