--- a
+++ b/A3C/model.py
@@ -0,0 +1,355 @@
+from ou_noise import OUNoise
+
+from helper import *
+
+import opensim as osim
+from osim.http.client import Client
+from osim.env import *
+
+import threading
+import numpy as np
+import tensorflow as tf
+import tensorflow.contrib.slim as slim
+
+from helper import *
+
+from time import sleep
+from time import time
+from time import gmtime, strftime
+import multiprocessing
+from multiprocessing import Process, Pipe
+from osim.env import *
+
+# [Hacked] the memory might always be leaking, here's a solution #58
+# https://github.com/stanfordnmbl/osim-rl/issues/58 
+# separate process that holds a separate RunEnv instance.
+# This has to be done since RunEnv() in the same process result in interleaved running of simulations.
+def floatify(np):
+    return [float(np[i]) for i in range(len(np))]
+    
+def standalone_headless_isolated(conn,vis):
+    e = RunEnv(visualize=vis)
+    
+    while True:
+        try:
+            msg = conn.recv()
+
+            # messages should be tuples,
+            # msg[0] should be string
+
+            if msg[0] == 'reset':
+                o = e.reset(difficulty=2)
+                conn.send(o)
+            elif msg[0] == 'step':
+                ordi = e.step(msg[1])
+                conn.send(ordi)
+            else:
+                conn.close()
+                del e
+                return
+        except:
+            conn.close()
+            del e
+            raise
+
+# class that manages the interprocess communication and expose itself as a RunEnv.
+class ei: # Environment Instance
+    def __init__(self,vis):
+        self.pc, self.cc = Pipe()
+        self.p = Process(
+            target = standalone_headless_isolated,
+            args=(self.cc,vis,)
+        )
+        self.p.daemon = True
+        self.p.start()
+
+    def reset(self):
+        self.pc.send(('reset',))
+        return self.pc.recv()
+
+    def step(self,actions):
+        self.pc.send(('step',actions,))
+        try:
+	    return self.pc.recv()
+	except EOFError:  
+            return None
+
+    def __del__(self):
+        self.pc.send(('exit',))
+        #print('(ei)waiting for join...')
+        self.p.join()
+
+
+# ================================================================
+# Model components
+# ================================================================
+
+# Actor Network------------------------------------------------------------------------------------------------------------
+class AC_Network():
+    def __init__(self,s_size,a_size,scope,trainer):
+        with tf.variable_scope(scope):
+            #Input and visual encoding layers
+            self.inputs = tf.placeholder(shape=[None,s_size],dtype=tf.float32)
+            
+	        # Create the model, use the default arg scope to configure the batch norm parameters.
+            '''
+            conv1 = tf.nn.elu(tf.nn.conv1d(self.imageIn,tf.truncated_normal([2,1,8],stddev=0.1),2,padding='VALID'))
+            conv2 = tf.nn.elu(tf.nn.conv1d(conv1,tf.truncated_normal([3,8,16],stddev=0.05),1,padding='VALID'))
+        
+            hidden = slim.fully_connected(slim.flatten(conv2),200,activation_fn=tf.nn.elu)'''
+            
+            hidden1 = slim.fully_connected(self.inputs,300,activation_fn=tf.elu)
+            hidden2 = slim.fully_connected(hidden1,200,activation_fn=tf.elu)
+    
+            #Output layers for policy and value estimations
+            mu = slim.fully_connected(hidden2,a_size,activation_fn=tf.sigmoid,weights_initializer=normalized_columns_initializer(0.01),biases_initializer=None)
+            var = slim.fully_connected(hidden2,a_size,activation_fn=tf.nn.softplus,weights_initializer=normalized_columns_initializer(0.01),biases_initializer=None)
+            self.normal_dist = tf.contrib.distributions.Normal(mu, 0.05)
+            self.policy = tf.clip_by_value(self.normal_dist.sample(1),0.0,1.0) # self.normal_dist.sample(1)
+            self.value = slim.fully_connected(hidden2,1,
+                activation_fn=None,
+                weights_initializer=normalized_columns_initializer(1.0),
+                biases_initializer=None)
+                
+            #Only the worker network need ops for loss functions and gradient updating.
+            if scope != 'global':
+                self.actions = tf.placeholder(shape=[None,a_size],dtype=tf.float32)
+                self.target_v = tf.placeholder(shape=[None],dtype=tf.float32)
+                self.advantages = tf.placeholder(shape=[None],dtype=tf.float32)
+
+                #Loss functions
+                self.value_loss = 0.5 * tf.reduce_sum(tf.square(self.target_v - tf.reshape(self.value,[-1])))
+                self.log_prob = tf.reduce_sum(self.normal_dist.log_prob(self.actions),axis=1)
+                self.entropy = tf.reduce_sum(self.normal_dist.entropy(),axis=1)  # encourage exploration
+                self.entropy = tf.reduce_sum(self.entropy,axis=0)
+                self.policy_loss = -tf.reduce_sum(self.log_prob*self.advantages,axis=0)
+
+                self.loss = 0.5 * self.value_loss + self.policy_loss - 0.01 * self.entropy
+
+                #Get gradients from local network using local losses
+                local_vars = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, scope)
+                self.gradients = tf.gradients(self.loss,local_vars)
+                self.var_norms = tf.global_norm(local_vars)
+                grads,self.grad_norms = tf.clip_by_global_norm(self.gradients,40.0)
+
+                #Apply local gradients to global network
+                #Comment these two lines out to stop training
+                global_vars = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, 'global')
+                self.apply_grads = trainer.apply_gradients(zip(grads,global_vars))
+                
+# Learning to run Worker------------------------------------------------------------------------------------------------------------
+class Worker():
+    def __init__(self,name,s_size,a_size,trainer,model_path,global_episodes,is_training):
+        self.name = "worker_" + str(name)
+        self.number = name        
+        self.model_path = model_path
+        self.trainer = trainer
+        self.global_episodes = global_episodes
+        self.increment = self.global_episodes.assign_add(1)
+        self.episode_rewards = []
+        self.episode_lengths = []
+        self.episode_mean_values = []
+        self.summary_writer = tf.summary.FileWriter("train_"+str(self.number))
+        self.is_training = is_training
+
+        #Create the local copy of the network and the tensorflow op to copy global paramters to local network
+        self.local_AC = AC_Network(s_size,a_size,self.name,trainer)
+	    #self.local_AC_target = AC_Network(s_size,a_size,self.name+'/target',trainer,noisy)
+        self.update_local_ops = update_target_graph('global',self.name)
+	    #self.update_local_ops_target = update_target_graph('global/target',self.name+'/target')
+	    #self.update_global_target = update_target_network(self.name,'global/target')           
+        
+	    # Initialize a random process the Ornstein-Uhlenbeck process for action exploration
+        self.exploration_noise = OUNoise(a_size)
+        
+    def train(self,rollout,sess,gamma,bootstrap_value):
+        rollout = np.array(rollout)
+        observations = rollout[:,0]
+        actions = rollout[:,1]
+        rewards = rollout[:,2]
+    	# reward clipping:  scale and clip the values of the rewards to the range -1,+1
+    	#rewards = (rewards - np.mean(rewards)) / np.max(abs(rewards))
+
+        next_observations = rollout[:,3] # Aug 1st, notice next observation is never used
+        values = rollout[:,5]
+        
+        # Here we take the rewards and values from the rollout, and use them to 
+        # generate the advantage and discounted returns. 
+        # The advantage function uses "Generalized Advantage Estimation"
+        self.rewards_plus = np.asarray(rewards.tolist() + [bootstrap_value])
+        discounted_rewards = discount(self.rewards_plus,gamma)[:-1]
+        self.value_plus = np.asarray(values.tolist() + [bootstrap_value])
+        advantages = rewards + gamma * self.value_plus[1:] - self.value_plus[:-1]
+        advantages = discount(advantages,gamma)
+
+        # Update the global network using gradients from loss
+        # Generate network statistics to periodically save
+        feed_dict = {self.local_AC.target_v:discounted_rewards,
+            self.local_AC.inputs:np.vstack(observations),
+            self.local_AC.actions:np.vstack(actions),
+            self.local_AC.advantages:advantages}
+        l,v_l,p_l,e_l,g_n,v_n,_ = sess.run([self.local_AC.loss,self.local_AC.value_loss,
+            self.local_AC.policy_loss,
+            self.local_AC.entropy,
+            self.local_AC.grad_norms,
+            self.local_AC.var_norms,
+            self.local_AC.apply_grads],
+            feed_dict=feed_dict)
+        return l / len(rollout), v_l / len(rollout),p_l / len(rollout),e_l / len(rollout), g_n,v_n
+        
+    def work(self,max_episode_length,gamma,sess,coord,saver):
+        if self.is_training:
+            episode_count = sess.run(self.global_episodes)
+        else:
+            episode_count = 0
+        wining_episode_count = 0
+        total_steps = 0
+        print ("Starting worker " + str(self.number))
+        with open('result.txt','w') as f:
+            f.write(strftime("Starting time: %a, %d %b %Y %H:%M:%S\n", gmtime()))
+	
+        explore = 1000
+
+        if self.name == 'worker_1':
+            self.env = ei(vis=False)#RunEnv(visualize=True)
+        else:
+            self.env = ei(vis=False)#RunEnv(visualize=False)
+
+        with sess.as_default(), sess.graph.as_default():
+            #not_start_training_yet = True
+            while not coord.should_stop():
+                # start the env (in the thread) every 50 eps to prevent memory leak
+                if episode_count % 50 == 0:
+                    if self.env != None:
+                        del self.env
+                    if self.name == 'worker_1':
+                        self.env = ei(vis=True)#RunEnv(visualize=True)
+                    else:
+                        self.env = ei(vis=False)#RunEnv(visualize=False)
+                self.setting=2
+                        
+                sess.run(self.update_local_ops)
+		        #sess.run(self.update_local_ops_target)
+                episode_buffer = []
+                episode_values = []
+                episode_reward = 0
+                episode_step_count = 0
+                done = False
+                
+                seed = np.random.rand()
+                
+                self.env.reset()
+                # engineered initial input to make agent's life easier
+                a=engineered_action(seed)
+                ob = self.env.step(a)[0]
+                s = ob
+                ob = self.env.step(a)[0]
+                s1 = ob
+                s = process_state(s,s1)
+                explore -= 1
+                #st = time()
+                chese=0
+                while done == False:
+                    #Take an action using probabilities from policy network output.
+                    action,v = sess.run([self.local_AC.policy,self.local_AC.value,self.local_AC.state_out], 
+                                feed_dict={self.local_AC.inputs:[s])
+                    if not (episode_count % 5 == 0 and self.name == 'worker_1') and self.is_training:
+                        if explore > 0: # > 0 turn on OU_noise # test the agent every 2 eps
+	                        a = np.clip(action[0,0]+self.exploration_noise.noise(),0.0,1.0)
+                        else:
+                            a = action[0,0]
+                        if chese < 60 and episode_count < 250:
+                            a=engineered_action(seed)
+                            chese += 1
+                    else:
+                        a = action[0,0]
+                    ob,r,done,_ = self.env.step(a)
+                    '''
+                    if self.name == 'worker_0':
+                        ct = time()
+                        print(ct-st)
+                        st = ct
+                    '''
+                    if done == False:
+                        s2 = ob
+                    else:
+                        s2 = s1
+                    s1 = process_state(s1,s2)
+                    #print(s1)    
+                    episode_buffer.append([s,a,r,s1,done,v[0,0]])
+                    episode_values.append(v[0,0])
+
+                    episode_reward += r
+                    s = s1
+                    s1 = s2
+                    total_steps += 1
+                    episode_step_count += 1
+                            
+                    # If the episode hasn't ended, but the experience buffer is full, then we
+                    # make an update step using that experience rollout.
+                    '''        
+                    if len(episode_buffer) == 120 and done != True and episode_step_count != max_episode_length - 1: # change pisode length to 5, and try to modify Worker.train() function to utilize the next frame to train imagined frame.
+                        # Since we don't know what the true final return is, we "bootstrap" from our current
+                        # value estimation.
+                        if self.is_training:
+                            v1 = sess.run(self.local_AC.value, 
+                            feed_dict={self.local_AC.inputs:[s]})[0,0]
+                            l,v_l,p_l,e_l,g_n,v_n = self.train(episode_buffer,sess,gamma,v1)
+                            sess.run(self.update_local_ops)
+                            episode_buffer = []
+                    ''' 
+                    if done == True:
+                        break
+                           
+                self.episode_rewards.append(episode_reward)
+                self.episode_lengths.append(episode_step_count)
+                self.episode_mean_values.append(np.mean(episode_values))
+                    
+                # Update the network using the experience buffer at the end of the episode.
+                if len(episode_buffer) != 0:
+                    if self.is_training:
+                        l,v_l,p_l,e_l,g_n,v_n = self.train(episode_buffer,sess,gamma,0.0)
+                        #print(l,v_l,p_l,e_l,g_n,v_n)
+	                    #sess.run(self.update_global_target)
+                                    
+                        
+                # Periodically save gifs of episodes, model parameters, and summary statistics.
+                if episode_count % 5 == 0 and episode_count != 0:
+                    mean_reward = np.mean(self.episode_rewards[-5:])
+                    mean_length = np.mean(self.episode_lengths[-5:])
+                    mean_value = np.mean(self.episode_mean_values[-5:])
+                    summary = tf.Summary()
+                    summary.value.add(tag='Perf/Reward', simple_value=float(mean_reward))
+                    summary.value.add(tag='Perf/Length', simple_value=float(mean_length))
+                    summary.value.add(tag='Perf/Value', simple_value=float(mean_value))
+                    if self.is_training:
+                        summary.value.add(tag='Losses/Value Loss', simple_value=float(v_l))
+                        summary.value.add(tag='Losses/Policy Loss', simple_value=float(p_l))
+                        summary.value.add(tag='Losses/Entropy', simple_value=float(e_l))
+                    self.summary_writer.add_summary(summary, episode_count)
+                    self.summary_writer.flush()
+                    if self.name == 'worker_1':
+			with open('result.txt','a') as f:
+                            f.write("Episode "+str(episode_count)+" reward (testing): %.2f\n" % episode_reward)
+                    if self.name == 'worker_0':
+			with open('result.txt','a') as f:
+			    f.write("Episodes "+str(episode_count)+" mean reward (training): %.2f\n" % mean_reward)
+
+                        if episode_count % 100 == 0:
+                            saver.save(sess,self.model_path+'/model-'+str(episode_count)+'.cptk')
+                            with open('result.txt','a') as f:
+			        f.write("Saved Model at episode: "+str(episode_count)+"\n")
+                if self.name == 'worker_0' and self.is_training:
+                    sess.run(self.increment)
+                        
+                episode_count += 1
+                    
+                if self.name == "worker_1" and episode_reward > 2.:
+                    wining_episode_count += 1
+                    print('Worker_1 is stepping forward in Episode {}! Reward: {:.2f}. Total percentage of success is: {}%'.format(episode_count, episode_reward, int(wining_episode_count / episode_count * 100)))
+                    with open('result.txt','a') as f:
+			f.wirte('Worker_1 is stepping forward in Episode {}! Reward: {:.2f}. Total percentage of success is: {}%\n'.format(episode_count, episode_reward, int(wining_episode_count / episode_count * 100)))
+        
+        # All done Stop trail
+        # Confirm exit
+        print('Exit/Done '+self.name)