UnboundLocalError in NeurIPS2019-Learn-to-Move-Challenge

[luoruiming]

When running sh scripts/train_difficulty1.sh ./low_speed_model , PARL remote error occurred. It
looks like the local variable 'reward_footstep_0' referenced before assignment.

[12-21 10:39:48 Thread-1 @train.py:287] saving models
[12-21 10:39:48 Thread-1 @train.py:290] saving rpm
Exception in thread Thread-4:
Traceback (most recent call last):
File "/home/luo/anaconda3/envs/opensim-rl/lib/python3.6/threading.py", line 916, in _bootstrap_inner
self.run()
File "/home/luo/anaconda3/envs/opensim-rl/lib/python3.6/threading.py", line 864, in run
self._target(*self._args, **self._kwargs)
File "train.py", line 190, in run_remote_sample
obs, reward, done, info = remote_actor.step(action)
File "/home/luo/anaconda3/envs/opensim-rl/lib/python3.6/site-packages/parl/remote/remote_decorator.py", line 189, in wrapper
raise RemoteError(attr, error_str)
parl.remote.exceptions.RemoteError: [PARL remote error when calling function step]:
local variable 'reward_footstep_0' referenced before assignment
traceback:
Traceback (most recent call last):
File "/home/luo/anaconda3/envs/opensim-rl/lib/python3.6/site-packages/parl/remote/job.py", line 379, in single_task
ret = getattr(obj, function_name)(*args, **kwargs)
File "/home/luo/PARL/examples/NeurIPS2019-Learn-to-Move-Challenge/actor.py", line 56, in step
return self.env.step(action, project=False)
File "/tmp/tmpm9llqji1/env_wrapper.py", line 219, in step
obs, r, done, info = self.env.step(action, **kwargs)
File "/tmp/tmpm9llqji1/env_wrapper.py", line 51, in step
return self.env.step(action, **kwargs)
File "/tmp/tmpm9llqji1/env_wrapper.py", line 68, in step
obs, reward, done, info = self.env.step(action, **kwargs)
File "/tmp/tmpm9llqji1/env_wrapper.py", line 119, in step
obs, r, done, info = self.env.step(action, **kwargs)
File "/home/luo/anaconda3/envs/opensim-rl/lib/python3.6/site-packages/osim/env/osim.py", line 562, in step
_, reward, done, info = super(L2M2019Env, self).step(action_mapped, project=project, obs_as_dict=obs_as_dict)
File "/home/luo/anaconda3/envs/opensim-rl/lib/python3.6/site-packages/osim/env/osim.py", line 356, in step
return [ obs, self.get_reward(), self.is_done() or (self.osim_model.istep >= self.spec.timestep_limit), {} ]
File "/home/luo/anaconda3/envs/opensim-rl/lib/python3.6/site-packages/osim/env/osim.py", line 764, in get_reward
return self.get_reward_1()
File "/home/luo/anaconda3/envs/opensim-rl/lib/python3.6/site-packages/osim/env/osim.py", line 821, in get_reward_1
reward += reward_footstep_0 + 10
UnboundLocalError: local variable 'reward_footstep_0' referenced before assignment

I worked on Ubuntu 16.04 with Titan XP GPU.

[zenghsh3]

It's a bug in the osim-rl package. stanfordnmbl/osim-rl#215

You can uncomment the following line to fix the bug for now.
https://github.com/stanfordnmbl/osim-rl/blob/9be49551ab617768d30488c961b0ac78cf209c88/osim/env/osim.py#L819

[luoruiming]

Nailed it! Thanks!