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NeurIPS 2018: AI for Prosthetics Challenge

Reinforcement learning with musculoskeletal models


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Error in submission

Posted by SArnold93 over 1 year ago

Hello, i find that the simulation works brilliantly however i am having difficulty in getting a submission to work. I am currently getting the following error: 500 Server Error: Internal Server Error for url: http://grader.crowdai.org:1729/v1/envs/2488___2669018c8e/step/

Is there any known error or is this on my side? Thanks

1

Posted by SArnold93  over 1 year ago |  Quote

Not sure how i got that error but not getting it anymore so maybe thats good news haha. Anyway new problem, when i call the observation from the server this returns as a dict? is this expected?

Posted by SArnold93  over 1 year ago |  Quote

So i’m getting the observation by calling: “observation = client.env_create(crowdai_token,env_id=”ProstheticsEnv”)” and when i print observation i get: {‘body_acc’: {‘calcn_l’: [1253.688828798722, 453.4117256205009, -462.8844724817433], ‘femur_l’: [3552.7596723666466, 102.32773696018921, -24.14590774460615], ‘femur_r’: [3577.2392919297267, 97.2556003736695, -24.14590774460615], ‘head’: [-2151.6179549639746, 247.21132544086612, -5.651007630868147], ‘pelvis’: [3021.7003234669214, 680.8998459553628, -32.50184112628757], ‘pros_foot_r’: [2097.069790884677, 407.6437699668757, 985.199411865104], ‘pros_tibia_r’: [-7206.973998543474, 407.6437699668757, 459.98267021582114], ‘talus_l’: [1326.619748123917, 365.89822770528855, -448.4463030305569], ‘tibia_l’: [-5893.369348915658, 365.89822770528855, -227.17211746475732], ‘toes_l’: [1250.10882643996, 148.06830447245676, -490.1229719729977], ‘torso’: [2351.823145970354, -146.7888874667765, -15.265452971775463]}, ‘body_acc_rot’: {‘calcn_l’: [514.5911292227897, 146.58454828192848, -1710.8455233087516], ‘femur_l’: [514.5911292227897, 146.58454828192848, -23292.824849203236], ‘femur_r’: [-1221.434282905309, 146.5845482819343, -26557.63606714429], ‘head’: [30.372075368382077, 146.58454828191628, 8219.35187112352], ‘pelvis’: [30.372075368382077, 146.58454828191628, 8219.351871123528], ‘pros_foot_r’: [-1221.434282905309, 146.5845482819343, 2218.8731787441284], ‘pros_tibia_r’: [-1221.434282905309, 146.5845482819343, 21637.311138205005], ‘talus_l’: [514.5911292227897, 146.58454828192848, -1710.8455233087516], ‘tibia_l’: [514.5911292227897, 146.58454828192848, 16790.672318696685], ‘toes_l’: [514.5911292227897, 146.58454828192848, -1710.8455233087516], ‘torso’: [30.372075368382077, 146.58454828191628, 8219.35187112352]}, ‘body_pos’: {‘calcn_l’: [-0.123969856517536, 0.006129303551649576, -0.09142], ‘femur_l’: [-0.0707, 0.8738999999999999, -0.0835], ‘femur_r’: [-0.0707, 0.8738999999999999, 0.0835], ‘head’: [-0.052764320996907754, 1.5694070821576522, 0.0], ‘pelvis’: [0.0, 0.94, 0.0], ‘pros_foot_r’: [-0.07519985651753601, 0.04807930355164958, 0.0835], ‘pros_tibia_r’: [-0.07519985651753601, 0.47807930355164957, 0.0835], ‘talus_l’: [-0.07519985651753601, 0.04807930355164958, -0.0835], ‘tibia_l’: [-0.07519985651753601, 0.47807930355164957, -0.0835], ‘toes_l’: [0.05483014348246398, 0.004129303551649576, -0.0925], ‘torso’: [-0.1007, 1.0214999999999999, 0.0]}, ‘body_pos_rot’: {‘calcn_l’: [-0.0, 0.0, -0.0], ‘femur_l’: [-0.0, 0.0, -0.0], ‘femur_r’: [-0.0, 0.0, -0.0], ‘head’: [-0.0, 0.0, -0.0872665], ‘pelvis’: [-0.0, 0.0, -0.0], ‘pros_foot_r’: [-0.0, 0.0, -0.0], ‘pros_tibia_r’: [-0.0, 0.0, -0.0], ‘talus_l’: [-0.0, 0.0, -0.0], ‘tibia_l’: [-0.0, 0.0, -0.0], ‘toes_l’: [-0.0, 0.0, -0.0], ‘torso’: [-0.0, 0.0, -0.0872665]}, ‘body_vel’: {‘calcn_l’: [0.0, 0.0, 0.0], ‘femur_l’: [0.0, 0.0, 0.0], ‘femur_r’: [0.0, 0.0, 0.0], ‘head’: [0.0, 0.0, 0.0], ‘pelvis’: [0.0, 0.0, 0.0], ‘pros_foot_r’: [0.0, 0.0, 0.0], ‘pros_tibia_r’: [0.0, 0.0, 0.0], ‘talus_l’: [0.0, 0.0, 0.0], ‘tibia_l’: [0.0, 0.0, 0.0], ‘toes_l’: [0.0, 0.0, 0.0], ‘torso’: [0.0, 0.0, 0.0]}, ‘body_vel_rot’: {‘calcn_l’: [0.0, 0.0, 0.0], ‘femur_l’: [0.0, 0.0, 0.0], ‘femur_r’: [0.0, 0.0, 0.0], ‘head’: [0.0, 0.0, 0.0], ‘pelvis’: [0.0, 0.0, 0.0], ‘pros_foot_r’: [0.0, 0.0, 0.0], ‘pros_tibia_r’: [0.0, 0.0, 0.0], ‘talus_l’: [0.0, 0.0, 0.0], ‘tibia_l’: [0.0, 0.0, 0.0], ‘toes_l’: [0.0, 0.0, 0.0], ‘torso’: [0.0, 0.0, 0.0]}, ‘forces’: {‘AnkleLimit_l’: [0.0, 0.0], ‘AnkleLimit_r’: [0.0, 0.0], ‘HipAddLimit_l’: [0.0, 0.0], ‘HipAddLimit_r’: [0.0, 0.0], ‘HipLimit_l’: [0.0, 0.0], ‘HipLimit_r’: [0.0, 0.0], ‘KneeLimit_l’: [-0.0, 0.0], ‘KneeLimit_r’: [-0.0, 0.0], ‘abd_l’: [0.0], ‘abd_r’: [0.0], ‘add_l’: [0.0], ‘add_r’: [0.0], ‘ankleSpring’: [-0.0], ‘bifemsh_l’: [6084.326590359711], ‘bifemsh_r’: [6084.326590359711], ‘foot_l’: [-1.7615592933859115e-12, -504.53063397142085, 0.0, -46.45915575255036, 1.622112753284362e-13, -4.943148065393853, 6.786660275561278e-13, 194.37767574636297, 0.0, 0.0, 0.0, 5.831330272390875, 1.0828932658297836e-12, 310.1529582250579, 0.0, 0.0, 0.0, 6.203059164501164, 1.0828932658297836e-12, 310.1529582250579, 0.0, 0.0, 0.0, 6.203059164501164], ‘gastroc_l’: [0.0], ‘glut_max_l’: [147037.7044007947], ‘glut_max_r’: [147037.7044007947], ‘hamstrings_l’: [0.0], ‘hamstrings_r’: [0.0], ‘iliopsoas_l’: [21479.14279626967], ‘iliopsoas_r’: [21479.14279626967], ‘pros_foot_r_0’: [-1.3573320551122304e-12, -388.7553514927188, 0.0, 32.46107184964201, -1.1333722660187127e-13, 3.726164264482634, 1.3573320551122304e-12, 388.7553514927188, 0.0, 0.0, 0.0, 25.50818238819416, 1.3573320551122304e-12, 388.7553514927188, 0.0, 0.0, 0.0, 25.50818238819416], ‘rect_fem_l’: [0.0], ‘rect_fem_r’: [0.0], ‘soleus_l’: [0.0], ‘tib_ant_l’: [0.0], ‘vasti_l’: [0.0], ‘vasti_r’: [0.0]}, ‘joint_acc’: {‘ankle_l’: [-18501.517842005436], ‘ankle_r’: [-19418.437959460876], ‘back’: [-1.000444171950221e-11], ‘back_0’: [], ‘ground_pelvis’: [8219.351871123528, 30.372075368382077, 146.58454828191628, 3021.7003234669214, 680.8998459553628, -32.50184112628757], ‘hip_l’: [-31512.176720326766, -484.21905385440766, -1.2192913345643319e-11], ‘hip_r’: [-34776.98793826782, -1251.806358273691, 1.801936377887614e-11], ‘knee_l’: [40083.49716789992], ‘knee_r’: [48194.947205349294], ‘mtp_l’: [], ‘subtalar_l’: []}, ‘joint_pos’: {‘ankle_l’: [0.0], ‘ankle_r’: [0.0], ‘back’: [-0.0872665], ‘back_0’: [], ‘ground_pelvis’: [0.0, 0.0, 0.0, 0.0, 0.94, 0.0], ‘hip_l’: [0.0, 0.0, 0.0], ‘hip_r’: [0.0, 0.0, 0.0], ‘knee_l’: [0.0], ‘knee_r’: [0.0], ‘mtp_l’: [], ‘subtalar_l’: []}, ‘joint_vel’: {‘ankle_l’: [0.0], ‘ankle_r’: [0.0], ‘back’: [0.0], ‘back_0’: [], ‘ground_pelvis’: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], ‘hip_l’: [0.0, 0.0, 0.0], ‘hip_r’: [0.0, 0.0, 0.0], ‘knee_l’: [0.0], ‘knee_r’: [0.0], ‘mtp_l’: [], ‘subtalar_l’: []}, ‘markers’: {}, ‘misc’: {‘mass_center_acc’: [-4.001157926055469e-13, 2.5708322099694465], ‘mass_center_pos’: [-0.08466565561225976, 0.9952730567231536], ‘mass_center_vel’: [0.0, 0.0]}, ‘muscles’: {‘abd_l’: {‘activation’: 0.05, ‘fiber_force’: 1.547474121413317e-14, ‘fiber_length’: 0.1, ‘fiber_velocity’: -1.326540950462705}, ‘abd_r’: {‘activation’: 0.05, ‘fiber_force’: 1.547474121413317e-14, ‘fiber_length’: 0.1, ‘fiber_velocity’: -1.326540950462705}, ‘add_l’: {‘activation’: 0.05, ‘fiber_force’: 0.0, ‘fiber_length’: 0.1, ‘fiber_velocity’: -1.0367973163843414}, ‘add_r’: {‘activation’: 0.05, ‘fiber_force’: 0.0, ‘fiber_length’: 0.1, ‘fiber_velocity’: -1.0367973163843414}, ‘bifemsh_l’: {‘activation’: 0.05, ‘fiber_force’: 6738.484542501806, ‘fiber_length’: 0.1, ‘fiber_velocity’: 379.68284762694003}, ‘bifemsh_r’: {‘activation’: 0.05, ‘fiber_force’: 6738.484542501806, ‘fiber_length’: 0.1, ‘fiber_velocity’: 379.68284762694003}, ‘gastroc_l’: {‘activation’: 0.05, ‘fiber_force’: 0.0, ‘fiber_length’: 0.1, ‘fiber_velocity’: -3481.201038861244}, ‘glut_max_l’: {‘activation’: 0.05, ‘fiber_force’: 147037.7044007947, ‘fiber_length’: 0.1, ‘fiber_velocity’: 2608.0828361198787}, ‘glut_max_r’: {‘activation’: 0.05, ‘fiber_force’: 147037.7044007947, ‘fiber_length’: 0.1, ‘fiber_velocity’: 2608.0828361198787}, ‘hamstrings_l’: {‘activation’: 0.05, ‘fiber_force’: 0.0, ‘fiber_length’: 0.1, ‘fiber_velocity’: -5.221454250202676}, ‘hamstrings_r’: {‘activation’: 0.05, ‘fiber_force’: 0.0, ‘fiber_length’: 0.1, ‘fiber_velocity’: -5.221454250202676}, ‘iliopsoas_l’: {‘activation’: 0.05, ‘fiber_force’: 21769.687084250327, ‘fiber_length’: 0.1, ‘fiber_velocity’: 276.6184843761971}, ‘iliopsoas_r’: {‘activation’: 0.05, ‘fiber_force’: 21769.687084250327, ‘fiber_length’: 0.1, ‘fiber_velocity’: 276.6184843761971}, ‘rect_fem_l’: {‘activation’: 0.05, ‘fiber_force’: 0.0, ‘fiber_length’: 0.1, ‘fiber_velocity’: -0.4092974568990915}, ‘rect_fem_r’: {‘activation’: 0.05, ‘fiber_force’: 0.0, ‘fiber_length’: 0.1, ‘fiber_velocity’: -0.4092974568990915}, ‘soleus_l’: {‘activation’: 0.05, ‘fiber_force’: 0.0, ‘fiber_length’: 0.1, ‘fiber_velocity’: -190146.97438065815}, ‘tib_ant_l’: {‘activation’: 0.05, ‘fiber_force’: 0.0, ‘fiber_length’: 0.1, ‘fiber_velocity’: -16.394217173963888}, ‘vasti_l’: {‘activation’: 0.05, ‘fiber_force’: 0.0, ‘fiber_length’: 0.1, ‘fiber_velocity’: -0.427439106952905}, ‘vasti_r’: {‘activation’: 0.05, ‘fiber_force’: 0.0, ‘fiber_length’: 0.1, ‘fiber_velocity’: -0.427439106952905}}}

which my agent isn’t expecting. any ideas?

Posted by SArnold93  over 1 year ago |  Quote

Ignore the above comments, just read further into the construction of the observation. my bad