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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2
scripts/gyms/Dribble.py
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@@ -316,7 +316,7 @@ class Train(Train_Base):
minibatch_size = 64 minibatch_size = 64
total_steps = 500000000 total_steps = 500000000
learning_rate = 3e-4 learning_rate = 3e-4
folder_name = f'Dribble_R{self.robot_type}' folder_name = f'Dribble_LL_R{self.robot_type}'
model_path = f'./scripts/gyms/logs/{folder_name}/' model_path = f'./scripts/gyms/logs/{folder_name}/'
def init_env(i_env): def init_env(i_env):

6
scripts/gyms/Kick_15M.py
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@@ -23,7 +23,7 @@ Learn how to run forward using step primitive
''' '''
class Fxxk_WHUAI(gym.Env): class Kick_15M(gym.Env):
def __init__(self, ip, server_p, monitor_p, r_type, enable_draw) -> None: def __init__(self, ip, server_p, monitor_p, r_type, enable_draw) -> None:
self.lock_flag = False self.lock_flag = False
self.sleep = 0 self.sleep = 0
@@ -279,7 +279,7 @@ class Train(Train_Base):
# --------------------------------------- Run algorithm # --------------------------------------- Run algorithm
def init_env(i_env): def init_env(i_env):
def thunk(): def thunk():
return Fxxk_WHUAI(self.ip, self.server_p + i_env, self.monitor_p_1000 + i_env, self.robot_type, False) return Kick_15M(self.ip, self.server_p + i_env, self.monitor_p_1000 + i_env, self.robot_type, False)
return thunk return thunk
@@ -312,7 +312,7 @@ class Train(Train_Base):
def test(self, args): def test(self, args):
# Uses different server and monitor ports # Uses different server and monitor ports
server = Server(self.server_p - 1, self.monitor_p, 1) server = Server(self.server_p - 1, self.monitor_p, 1)
env = Fxxk_WHUAI(self.ip, self.server_p - 1, self.monitor_p, self.robot_type, True) env = Kick_15M(self.ip, self.server_p - 1, self.monitor_p, self.robot_type, True)
model = PPO.load(args["model_file"], env=env) model = PPO.load(args["model_file"], env=env)
try: try:

6
scripts/gyms/Kick_20M.py
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@@ -25,7 +25,7 @@ Learn how to run forward using step primitive
''' '''
class Mimic(gym.Env): class Kick_20M(gym.Env):
def __init__(self, ip, server_p, monitor_p, r_type, enable_draw) -> None: def __init__(self, ip, server_p, monitor_p, r_type, enable_draw) -> None:
self.phase = 0 self.phase = 0
self.init_step = 40 self.init_step = 40
@@ -275,7 +275,7 @@ class Train(Train_Base):
# --------------------------------------- Run algorithm # --------------------------------------- Run algorithm
def init_env(i_env): def init_env(i_env):
def thunk(): def thunk():
return Mimic(self.ip, self.server_p + i_env, self.monitor_p_1000 + i_env, self.robot_type, False) return Kick_20M(self.ip, self.server_p + i_env, self.monitor_p_1000 + i_env, self.robot_type, False)
return thunk return thunk
@@ -308,7 +308,7 @@ class Train(Train_Base):
def test(self, args): def test(self, args):
# Uses different server and monitor ports # Uses different server and monitor ports
server = Server(self.server_p - 1, self.monitor_p, 1) server = Server(self.server_p - 1, self.monitor_p, 1)
env = Mimic(self.ip, self.server_p - 1, self.monitor_p, self.robot_type, True) env = Kick_20M(self.ip, self.server_p - 1, self.monitor_p, self.robot_type, True)
model = PPO.load(args["model_file"], env=env) model = PPO.load(args["model_file"], env=env)
try: try:

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: def __init__(self, ip, server_p, monitor_p, r_type, enable_draw) -> None:
self.isfallen = False self.isfallen = False
self.last_ball_vec = np.array([0, 0, 0]) self.last_ball_vec = np.array([0, 0, 0])
@@ -290,7 +290,7 @@ class Train(Train_Base):
# --------------------------------------- Run algorithm # --------------------------------------- Run algorithm
def init_env(i_env): def init_env(i_env):
def thunk(): 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) False)
return thunk return thunk
@@ -325,7 +325,7 @@ class Train(Train_Base):
# Uses different server and monitor ports # Uses different server and monitor ports
server = Server(self.server_p - 1, self.monitor_p, 1) 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) model = PPO.load(args["model_file"], env=env)
try: try:

6
scripts/gyms/Kick_5M.py
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@@ -23,7 +23,7 @@ Learn how to run forward using step primitive
''' '''
class Short_Kick(gym.Env): class Kick_5M(gym.Env):
def __init__(self, ip, server_p, monitor_p, r_type, enable_draw) -> None: def __init__(self, ip, server_p, monitor_p, r_type, enable_draw) -> None:
self.lock_flag = False self.lock_flag = False
self.sleep = 0 self.sleep = 0
@@ -275,7 +275,7 @@ class Train(Train_Base):
# --------------------------------------- Run algorithm # --------------------------------------- Run algorithm
def init_env(i_env): def init_env(i_env):
def thunk(): def thunk():
return Short_Kick(self.ip, self.server_p + i_env, self.monitor_p_1000 + i_env, self.robot_type, False) return Kick_5M(self.ip, self.server_p + i_env, self.monitor_p_1000 + i_env, self.robot_type, False)
return thunk return thunk
@@ -309,7 +309,7 @@ class Train(Train_Base):
# Uses different server and monitor ports # Uses different server and monitor ports
server = Server(self.server_p - 1, self.monitor_p, 1) server = Server(self.server_p - 1, self.monitor_p, 1)
env = Short_Kick(self.ip, self.server_p - 1, self.monitor_p, self.robot_type, True) env = Kick_5M(self.ip, self.server_p - 1, self.monitor_p, self.robot_type, True)
model = PPO.load(args["model_file"], env=env) model = PPO.load(args["model_file"], env=env)
try: try: