ChenXi/FCP_gym
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ChenXi
2025-11-21 02:28:20 -05:00
parent eaaa5519bd
commit a5bbf94917
5 changed files with 13 additions and 13 deletions
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6
scripts/gyms/Kick_3M.py
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@@ -26,7 +26,7 @@ Learn how to run forward using step primitive
'''
class kick_moving_ball(gym.Env):
class Kick_3M(gym.Env):
def __init__(self, ip, server_p, monitor_p, r_type, enable_draw) -> None:
self.isfallen = False
self.last_ball_vec = np.array([0, 0, 0])
@@ -290,7 +290,7 @@ class Train(Train_Base):
# --------------------------------------- Run algorithm
def init_env(i_env):
def thunk():
return kick_moving_ball(self.ip, self.server_p + i_env, self.monitor_p_1000 + i_env, self.robot_type,
return Kick_3M(self.ip, self.server_p + i_env, self.monitor_p_1000 + i_env, self.robot_type,
False)
return thunk
@@ -325,7 +325,7 @@ class Train(Train_Base):
# Uses different server and monitor ports
server = Server(self.server_p - 1, self.monitor_p, 1)
env = kick_moving_ball(self.ip, self.server_p - 1, self.monitor_p, self.robot_type, True)
env = Kick_3M(self.ip, self.server_p - 1, self.monitor_p, self.robot_type, True)
model = PPO.load(args["model_file"], env=env)
try: