Gym_CPU/scripts/gyms/Walk.py

import os
import numpy as np
import math
import time
from time import sleep
from random import random
from random import uniform

from stable_baselines3 import PPO
from stable_baselines3.common.monitor import Monitor
from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv

import gymnasium as gym
from gymnasium import spaces

from scripts.commons.Train_Base import Train_Base
from scripts.commons.Server import Server as Train_Server

from agent.base_agent import Base_Agent
from utils.math_ops import MathOps

from scipy.spatial.transform import Rotation as R

'''
Objective:
Learn how to run forward using step primitive
----------
- class Basic_Run: implements an OpenAI custom gym
- class Train:  implements algorithms to train a new model or test an existing model
'''


class WalkEnv(gym.Env):
    def __init__(self, ip, server_p) -> None:

        # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw
        self.Player = player = Base_Agent(
            team_name="Gym",
            number=1,
            host=ip,
            port=server_p
        )
        self.robot_type = self.Player.robot
        self.step_counter = 0  # to limit episode size
        self.force_play_on = True

        self.target_position = np.array([0.0, 0.0])  # target position in the x-y plane
        self.initial_position = np.array([0.0, 0.0])  # initial position in the x-y plane
        self.target_direction = 0.0  # target direction in the x-y plane (relative to the robot's orientation)
        self.isfallen = False
        self.waypoint_index = 0
        self.route_completed = False
        self.debug_every_n_steps = 5
        self.enable_debug_joint_status = False
        self.calibrate_nominal_from_neutral = True
        self.auto_calibrate_train_sim_flip = True
        self.nominal_calibrated_once = False
        self.flip_calibrated_once = False
        self._target_hz = 0.0
        self._target_dt = 0.0
        self._last_sync_time = None
        target_hz_env = 0
        if target_hz_env:
            try:
                self._target_hz = float(target_hz_env)
            except ValueError:
                self._target_hz = 0.0
        if self._target_hz > 0.0:
            self._target_dt = 1.0 / self._target_hz

        # State space
        # 原始观测大小: 78
        obs_size = 78
        self.obs = np.zeros(obs_size, np.float32)
        self.observation_space = spaces.Box(
            low=-10.0,
            high=10.0,
            shape=(obs_size,),
            dtype=np.float32
        )

        action_dim = len(self.Player.robot.ROBOT_MOTORS)
        self.no_of_actions = action_dim
        self.action_space = spaces.Box(
            low=-10.0,
            high=10.0,
            shape=(action_dim,),
            dtype=np.float32
        )

        # 中立姿态
        self.joint_nominal_position = np.array(
            [
                0.0,
                0.0,
                0.0,
                1.4,
                0.0,
                -0.4,
                0.0,
                -1.4,
                0.0,
                0.4,
                0.0,
                -0.4,
                0.0,
                0.0,
                0.8,
                -0.4,
                0.0,
                0.4,
                0.0,
                0.0,
                -0.8,
                0.4,
                0.0,
            ]
        )
        self.joint_nominal_position = np.zeros(self.no_of_actions)
        self.train_sim_flip = np.array(
            [
                1.0,  # 0: Head_yaw (he1)
                -1.0,  # 1: Head_pitch (he2)
                1.0,  # 2: Left_Shoulder_Pitch (lae1)
                -1.0,  # 3: Left_Shoulder_Roll (lae2)
                -1.0,  # 4: Left_Elbow_Pitch (lae3)
                1.0,  # 5: Left_Elbow_Yaw (lae4)
                -1.0,  # 6: Right_Shoulder_Pitch (rae1)
                -1.0,  # 7: Right_Shoulder_Roll (rae2)
                1.0,  # 8: Right_Elbow_Pitch (rae3)
                1.0,  # 9: Right_Elbow_Yaw (rae4)
                1.0,  # 10: Waist (te1)
                1.0,  # 11: Left_Hip_Pitch (lle1)
                -1.0,  # 12: Left_Hip_Roll (lle2)
                -1.0,  # 13: Left_Hip_Yaw (lle3)
                1.0,  # 14: Left_Knee_Pitch (lle4)
                1.0,  # 15: Left_Ankle_Pitch (lle5)
                -1.0,  # 16: Left_Ankle_Roll (lle6)
                -1.0,  # 17: Right_Hip_Pitch (rle1)
                -1.0,  # 18: Right_Hip_Roll (rle2)
                -1.0,  # 19: Right_Hip_Yaw (rle3)
                -1.0,  # 20: Right_Knee_Pitch (rle4)
                -1.0,  # 21: Right_Ankle_Pitch (rle5)
                -1.0,  # 22: Right_Ankle_Roll (rle6)
            ]
        )

        self.scaling_factor = 0.3
        # self.scaling_factor = 1

        # Small reset perturbations for robustness training.
        self.enable_reset_perturb = True
        self.reset_beam_yaw_range_deg = 180  # randomize target direction fully to encourage learning a real walk instead of a fixed gait
        self.reset_joint_noise_rad = 0.015
        self.reset_perturb_steps = 3
        self.reset_recover_steps = 8

        self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS))
        self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS))
        self.previous_pos = np.array([0.0, 0.0])  # Track previous position
        self.Player.server.connect()
        # sleep(2.0)  # Longer wait for connection to establish completely
        self.Player.server.send_immediate(
            f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})"
        )
        self.start_time = time.time()

    def _reconnect_server(self):
        try:
            self.Player.server.shutdown()
        except Exception:
            pass

        self.Player.server.connect()
        self.Player.server.send_immediate(
            f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})"
        )

    def _safe_receive_world_update(self, retries=1):
        last_exc = None
        for attempt in range(retries + 1):
            try:
                self.Player.server.receive()
                self.Player.world.update()
                return
            except (ConnectionResetError, OSError) as exc:
                last_exc = exc
                if attempt >= retries:
                    raise
                self._reconnect_server()
        if last_exc is not None:
            raise last_exc

    def debug_log(self, message):
        print(message)
        try:
            log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log")
            with open(log_path, "a", encoding="utf-8") as f:
                f.write(message + "\n")
        except OSError:
            pass

    def observe(self, init=False):

        """获取当前观测值"""
        robot = self.Player.robot
        world = self.Player.world

        # Safety check: ensure data is available

        # 计算目标速度
        raw_target = self.target_position - world.global_position[:2]
        velocity = MathOps.rotate_2d_vec(
            raw_target,
            -robot.global_orientation_euler[2],
            is_rad=False
        )

        # 计算相对方向
        rel_orientation = MathOps.vector_angle(velocity) * 0.3
        rel_orientation = np.clip(rel_orientation, -0.25, 0.25)

        velocity = np.concatenate([velocity, np.array([rel_orientation])])
        velocity[0] = np.clip(velocity[0], -0.5, 0.5)
        velocity[1] = np.clip(velocity[1], -0.25, 0.25)

        # 关节状态
        radian_joint_positions = np.deg2rad(
            [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS]
        )
        radian_joint_speeds = np.deg2rad(
            [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS]
        )

        qpos_qvel_previous_action = np.concatenate([
            (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6,
            radian_joint_speeds / 110.0 * self.train_sim_flip,
            self.previous_action / 10.0,
        ])

        # 角速度
        ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0)

        # 投影的重力方向
        orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv()
        projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0]))

        # 组合观测
        observation = np.concatenate([
            qpos_qvel_previous_action,
            ang_vel,
            velocity,
            projected_gravity,
        ])

        observation = np.clip(observation, -10.0, 10.0)
        return observation.astype(np.float32)

    def sync(self):
        ''' Run a single simulation step '''
        self._safe_receive_world_update(retries=1)
        self.Player.robot.commit_motor_targets_pd()
        self.Player.server.send()
        if self._target_dt > 0.0:
            now = time.time()
            if self._last_sync_time is None:
                self._last_sync_time = now
                return
            elapsed = now - self._last_sync_time
            remaining = self._target_dt - elapsed
            if remaining > 0.0:
                time.sleep(remaining)
                now = time.time()
            self._last_sync_time = now

    def debug_joint_status(self):
        robot = self.Player.robot
        actual_joint_positions = np.deg2rad(
            [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS]
        )
        target_joint_positions = getattr(
            self,
            'target_joint_positions',
            np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32)
        )
        joint_error = actual_joint_positions - target_joint_positions
        leg_slice = slice(11, None)

        self.debug_log(
            "[WalkDebug] "
            f"step={self.step_counter} "
            f"pos={np.round(self.Player.world.global_position, 3).tolist()} "
            f"target_xy={np.round(self.target_position, 3).tolist()} "
            f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} "
            f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} "
            f"err_norm={float(np.linalg.norm(joint_error)):.4f} "
            f"fallen={self.Player.world.global_position[2] < 0.3}"
        )
        print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}")

    def reset(self, seed=None, options=None):
        '''
        Reset and stabilize the robot
        Note: for some behaviors it would be better to reduce stabilization or add noise
        '''
        r = self.Player.robot
        super().reset(seed=seed)
        if seed is not None:
            np.random.seed(seed)

        length1 = 2  # randomize target distance
        length2 = np.random.uniform(0.6, 1)  # randomize target distance
        length3 = np.random.uniform(0.6, 1)  # randomize target distance
        angle2 = np.random.uniform(-30, 30)  # randomize initial orientation
        angle3 = np.random.uniform(-30, 30)  # randomize target direction

        self.step_counter = 0
        self.waypoint_index = 0
        self.route_completed = False
        self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS))
        self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS))
        self.previous_pos = np.array([0.0, 0.0])  # Initialize for first step
        self.walk_cycle_step = 0

        # 随机 beam 目标位置和朝向，增加训练多样性
        beam_x = (random() - 0.5) * 10
        beam_y = (random() - 0.5) * 10
        beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg)

        for _ in range(5):
            self._safe_receive_world_update(retries=2)
            self.Player.robot.commit_motor_targets_pd()
            self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw)
            self.Player.server.send()

        # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立
        finished_count = 0
        for _ in range(50):
            finished = self.Player.skills_manager.execute("Neutral")
            self.sync()
            if finished:
                finished_count += 1
                if finished_count >= 20:  # 假设需要连续20次完成才算成功
                    break

        if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0:
            perturb_action = np.zeros(self.no_of_actions, dtype=np.float32)
            # Perturb waist + lower body only (10:), keep head/arms stable.
            perturb_action[10:] = np.random.uniform(
                -self.reset_joint_noise_rad,
                self.reset_joint_noise_rad,
                size=(self.no_of_actions - 10,)
            )

            for _ in range(self.reset_perturb_steps):
                target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip
                for idx, target in enumerate(target_joint_positions):
                    r.set_motor_target_position(
                        r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6
                    )
                self.sync()

            for i in range(self.reset_recover_steps):
                # Linearly fade perturbation to help policy start from near-neutral.
                alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps)
                target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip
                for idx, target in enumerate(target_joint_positions):
                    r.set_motor_target_position(
                        r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6
                    )
                self.sync()

        # memory variables
        self.sync()  
        self.initial_position = np.array(self.Player.world.global_position[:2])
        self.previous_pos = self.initial_position.copy()  # Critical: set to actual position
        self.act = np.zeros(self.no_of_actions, np.float32)
        # Build target in the robot's current forward direction instead of fixed global +x.
        heading_deg = float(r.global_orientation_euler[2])
        forward_offset = MathOps.rotate_2d_vec(np.array([length1, 0.0]), heading_deg, is_rad=False)
        point1 = self.initial_position + forward_offset
        point2 = point1 + MathOps.rotate_2d_vec(np.array([length2, 0]), angle2, is_rad=False)
        point3 = point2 + MathOps.rotate_2d_vec(np.array([length3, 0]), angle3, is_rad=False)
        self.point_list = [point1]
        self.target_position = self.point_list[self.waypoint_index]
        self.initial_height = self.Player.world.global_position[2]

        return self.observe(True), {}

    def render(self, mode='human', close=False):
        return

    def compute_reward(self, previous_pos, current_pos, action):
        height = float(self.Player.world.global_position[2])

        orientation_quat_inv = R.from_quat(self.Player.robot._global_cheat_orientation).inv()
        projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0]))
        tilt_mag = float(np.linalg.norm(projected_gravity[:2]))
        ang_vel = np.deg2rad(self.Player.robot.gyroscope)
        ang_vel_mag = float(np.linalg.norm(ang_vel))

        is_fallen = height < 0.3
        if is_fallen:
            # remain = max(0, 800 - self.step_counter)
            # return -8.0 - 0.01 * remain
            return -1.0
        


        # # 目标方向
        # to_target = self.target_position - current_pos
        # dist_to_target = float(np.linalg.norm(to_target))
        # if dist_to_target < 0.5:
        #     return 15.0

        # forward_dir = to_target / dist_to_target if dist_to_target > 0.1 else np.array([1.0, 0.0])
        # delta_pos = current_pos - previous_pos
        # forward_step = float(np.dot(delta_pos, forward_dir))
        # lateral_step = float(np.linalg.norm(delta_pos - forward_dir * forward_step))

        # 奖励项
        # progress_reward = 2 * forward_step
        # lateral_penalty = -0.1 * lateral_step
        alive_bonus = 2.0

        # action_penalty = -0.01 * float(np.linalg.norm(action))
        smoothness_penalty = -0.01 * float(np.linalg.norm(action - self.last_action_for_reward))

        posture_penalty = -0.3 * (tilt_mag)
        ang_vel_penalty = -0.02 * ang_vel_mag

        target_height = self.initial_height
        height_error =  height - target_height
        height_penalty = -0.5 * abs(height_error)  # 惩罚高度偏离，系数可调

        # # 在 compute_reward 开头附近，添加高度变化率计算
        # if not hasattr(self, 'last_height'):
        #     self.last_height = height
        #     self.last_height_time = self.step_counter  # 可选，用于时间间隔
        # height_rate = height - self.last_height  # 正为上升，负为下降
        # self.last_height = height

        # 惩罚高度下降（负变化率）
        # height_down_penalty = -5.0 * max(0, -height_rate)  # 系数可调，-height_rate 为正表示下降幅度

        # # 在 compute_reward 中
        # if self.step_counter > 50:
        #     avg_prev_action = np.mean(self.prev_action_history, axis=0)
        #     novelty = float(np.linalg.norm(action - avg_prev_action))
        #     exploration_bonus = 0.05 * novelty
        # else:
        #     exploration_bonus = 0

        # self.prev_action_history[self.history_idx] = action
        # self.history_idx = (self.history_idx + 1) % 50


        total = (
            # progress_reward  + 
                 alive_bonus + 
                 # lateral_penalty +
                 # action_penalty +
                smoothness_penalty +
                 posture_penalty
                 + ang_vel_penalty
                 + height_penalty
                #  + exploration_bonus
                # + height_down_penalty
                 )
        if time.time() - self.start_time >= 1200:
            self.start_time = time.time()
            print(
                #   f"progress_reward:{progress_reward:.4f}",
                #   f"lateral_penalty:{lateral_penalty:.4f}",
                #   f"action_penalty:{action_penalty:.4f}"s, 
                  f"height_penalty:{height_penalty:.4f}",
                  f"smoothness_penalty:{smoothness_penalty:.4f},",
                  f"posture_penalty:{posture_penalty:.4f}",
                #   f"ang_vel_penalty:{ang_vel_penalty:.4f}",
                #   f"height_down_penalty:{height_down_penalty:.4f}",
                #   f"exploration_bonus:{exploration_bonus:.4f}"
            )

        return total



    def step(self, action):

        r = self.Player.robot
        self.previous_action = action

        self.target_joint_positions = (
                # self.joint_nominal_position +
                 self.scaling_factor * action
        )
        self.target_joint_positions *= self.train_sim_flip

        for idx, target in enumerate(self.target_joint_positions):
            r.set_motor_target_position(
                r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=40, kd=1.0
            )

        self.previous_action = action

        self.sync()  # run simulation step
        self.step_counter += 1

        if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0:
            self.debug_joint_status()

        current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32)

        # Compute reward based on movement from previous step
        reward = self.compute_reward(self.previous_pos, current_pos, action)

        # Update previous position
        self.previous_pos = current_pos.copy()
        self.last_action_for_reward = action.copy()

        # Fall detection and penalty
        is_fallen = self.Player.world.global_position[2] < 0.3

        # terminal state: the robot is falling or timeout
        terminated = is_fallen or self.step_counter > 800 or self.route_completed
        truncated = False

        return self.observe(), reward, terminated, truncated, {}


class Train(Train_Base):
    def __init__(self, script) -> None:
        super().__init__(script)

    def train(self, args):

        # --------------------------------------- Learning parameters
        n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20"))
        if n_envs < 1:
            raise ValueError("GYM_CPU_N_ENVS must be >= 1")
        server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0"))
        n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "256"))  # RolloutBuffer is of size (n_steps_per_env * n_envs)
        minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512"))  # should be a factor of (n_steps_per_env * n_envs)
        total_steps = 30000000
        learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4"))
        folder_name = f'Walk_R{self.robot_type}'
        model_path = f'./scripts/gyms/logs/{folder_name}/'

        print(f"Model path: {model_path}")
        print(f"Using {n_envs} parallel environments")

        # --------------------------------------- Run algorithm
        def init_env(i_env, monitor=False):
            def thunk():
                env = WalkEnv(self.ip, self.server_p + i_env)
                if monitor:
                    env = Monitor(env)
                return env

            return thunk

        server_log_dir = os.path.join(model_path, "server_logs")
        os.makedirs(server_log_dir, exist_ok=True)
        servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True)  # include 1 extra server for testing

        # Wait for servers to start
        print(f"Starting {n_envs + 1} rcssservermj servers...")
        if server_warmup_sec > 0:
            print(f"Waiting {server_warmup_sec:.1f}s for server warmup...")
            sleep(server_warmup_sec)
        print("Servers started, creating environments...")

        env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)])
        # Use single-process eval env to avoid extra subprocess fragility during callback evaluation.
        eval_env = DummyVecEnv([init_env(n_envs, monitor=True)])

        try:
            # Custom policy network architecture
            policy_kwargs = dict(
                net_arch=dict(
                    pi=[512, 256, 128],  # Policy network: 3 layers
                    vf=[512, 256, 128]  # Value network: 3 layers
                ),
                activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU,
            )

            if "model_file" in args:  # retrain
                model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env,
                                 batch_size=minibatch_size, learning_rate=learning_rate)
            else:  # train new model
                model = PPO(
                    "MlpPolicy",
                    env=env,
                    verbose=1,
                    n_steps=n_steps_per_env,
                    batch_size=minibatch_size,
                    learning_rate=learning_rate,
                    device="cpu",
                    policy_kwargs=policy_kwargs,
                    ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")),  # Entropy coefficient for exploration
                    clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")),  # PPO clipping parameter
                    gae_lambda=0.95,  # GAE lambda
                    gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor
                    target_kl=0.03,
                    n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")),
                    # tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/"
                )

            model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env,
                                          eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20,
                                          backup_env_file=__file__)
        except KeyboardInterrupt:
            sleep(1)  # wait for child processes
            print("\nctrl+c pressed, aborting...\n")
            servers.kill()
            return

        env.close()
        eval_env.close()
        servers.kill()

    def test(self, args):

        # Uses different server and monitor ports
        server_log_dir = os.path.join(args["folder_dir"], "server_logs")
        os.makedirs(server_log_dir, exist_ok=True)
        test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1"
        test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1"

        server = Train_Server(
            self.server_p - 1,
            self.monitor_p,
            1,
            no_render=test_no_render,
            no_realtime=test_no_realtime,
        )
        env = WalkEnv(self.ip, self.server_p - 1)
        model = PPO.load(args["model_file"], env=env)

        try:
            self.export_model(args["model_file"], args["model_file"] + ".pkl",
                              False)  # Export to pkl to create custom behavior
            self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"])
        except KeyboardInterrupt:
            print()

        env.close()
        server.kill()


if __name__ == "__main__":
    from types import SimpleNamespace

    # 创建默认参数
    script_args = SimpleNamespace(
        args=SimpleNamespace(
            i='127.0.0.1',  # Server IP
            p=3100,  # Server port
            m=3200,  # Monitor port
            r=0,  # Robot type
            t='Gym',  # Team name
            u=1  # Uniform number
        )
    )

    trainer = Train(script_args)

    run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower()

    if run_mode == "test":
        test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Walk_R0_004/best_model.zip")
        test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Walk_R0_004/")
        trainer.test({"model_file": test_model_file, "folder_dir": test_folder})
    else:
        retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip()
        if retrain_model:
            trainer.train({"model_file": retrain_model})
        else:
            trainer.train({})