Save state

stanfordnmbl · Nov 20, 2016 · 7324c31 · 7324c31
1 parent 22739a9
commit 7324c31
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Showing 3 changed files with 11 additions and 20 deletions.
diff --git a/osim/env/osim.py b/osim/env/osim.py
@@ -52,17 +52,16 @@ class OsimEnv(object):
     ninput = 0
     noutput = 0
 
-    # def __getstate__(self):
-    #     state = self.__dict__.copy()
-    #     del state['osim_model']
-    #     print ("HERE1")
-    #     return state
-
-    # def __setstate__(self, newstate):
-    #     self.__dict__.update(newstate)
-    #     self.osim_model = Osim(self.model_path, self.visualize)
-    #     print ("HERE2")
-    #     self.configure()
+    def __getstate__(self):
+        state = self.__dict__.copy()
+        del state['osim_model']
+        print ("HERE1")
+        return state
+
+    def __setstate__(self, newstate):
+        self.__dict__.update(newstate)
+        self.osim_model = Osim(self.model_path, True)
+        self.configure()
 
     def angular_dist(self, t,s):
         x = (t-s) % (2*math.pi)

diff --git a/scripts/keras-rl/train.ddpg.py b/scripts/keras-rl/train.ddpg.py
@@ -36,7 +36,6 @@
     env = ArmEnv(args.visualize)
 
 nb_actions = env.action_space.shape[0]
-print (env.observation_space.shape)
 
 # Next, we build a very simple model.
 actor = Sequential()

diff --git a/tests/test.py → scripts/rllab/visualize.py b/tests/test.py → scripts/rllab/visualize.py
@@ -1,23 +1,16 @@
-from env.arm import ArmEnv
-from env.human import HopEnv, GaitEnv, StandEnv, CrouchEnv
+from osim.env import ArmEnv, HopEnv, GaitEnv, StandEnv, CrouchEnv
 import joblib
 import argparse
 
 from rllab.envs.box2d.cartpole_env import CartpoleEnv
 from rllab.envs.gym_env import GymEnv
 from rllab.envs.normalized_env import normalize
 from rllab.misc.instrument import stub, run_experiment_lite
-# from rllab.exploration_strategies.ou_strategy import OUStrategy
-# from rllab.policies.deterministic_mlp_policy import DeterministicMLPPolicy
-# from rllab.q_functions.continuous_mlp_q_function import ContinuousMLPQFunction
 
 parser = argparse.ArgumentParser(description='Test a policy')
 parser.add_argument('-p', action="store", dest="params_file")
 parsed = parser.parse_args()
 
-# fname = "/home/lukasz/workspace/rllab/data/local/experiment/experiment_2016_11_18_15_36_08_0001/params.pkl"
-# fname = "/home/lukasz/workspace/rllab/data/local/experiment/experiment_2016_11_16_21_55_28_0001/params.pkl"
-# fname = "/home/lukasz/workspace/rllab/data/local/experiment/experiment_2016_11_19_11_18_14_0001/params.pkl"
 params = joblib.load(parsed.params_file)
 env = params['env']
 env.test = True