From 5bf9bd2d1ae7735c6eee102b2cce557acf6f4e13 Mon Sep 17 00:00:00 2001 From: Kirsty Ellis Date: Mon, 31 Jul 2023 16:00:57 -0400 Subject: [PATCH] minor changes --- cleanrl/ppo_continuous_action.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/cleanrl/ppo_continuous_action.py b/cleanrl/ppo_continuous_action.py index cf5433798..366f569f9 100644 --- a/cleanrl/ppo_continuous_action.py +++ b/cleanrl/ppo_continuous_action.py @@ -87,7 +87,7 @@ def thunk(): if rs_address: env = gym.make(env_id, ur_model='ur5', rs_address=rs_address) elif target_ip: - env = gym.make(env_id, ur_model='ur5', ip=ip, gui=True) + env = gym.make(env_id, ur_model='ur5', ip=target_ip, gui=True) else: env = gym.make(env_id) elif robot_type == "interbotix": @@ -97,6 +97,8 @@ def thunk(): env = gym.make(env_id, robot_model='rx150', ip=target_ip, gui=True) else: env = gym.make(env_id) + else: + env = gym.make(env_id) env = gym.wrappers.FlattenObservation(env) # deal with dm_control's Dict observation space env = gym.wrappers.RecordEpisodeStatistics(env) @@ -342,5 +344,4 @@ def get_action_and_value(self, x, action=None): print("SPS:", int(global_step / (time.time() - start_time))) - envs.close()