update Walk.py and update models for Walk gym

scripts/commons/Server.py

@@ -7,7 +7,7 @@ import threading
 class Server():
     WATCHDOG_ENABLED = True
     WATCHDOG_INTERVAL_SEC = 30.0
-    WATCHDOG_RSS_MB_LIMIT = 1000.0
+    WATCHDOG_RSS_MB_LIMIT = 800
 
     def __init__(self, first_server_p, first_monitor_p, n_servers, no_render=True, no_realtime=True) -> None:
         try:
@@ -109,14 +109,29 @@ class Server():
     def check_running_servers(self, psutil, first_server_p, first_monitor_p, n_servers):
         ''' Check if any server is running on chosen ports '''
         found = False
-        p_list = [p for p in psutil.process_iter() if p.cmdline() and "rcssservermj" in " ".join(p.cmdline())]
         range1 = (first_server_p, first_server_p + n_servers)
         range2 = (first_monitor_p, first_monitor_p + n_servers)
         bad_processes = []
 
+        def safe_cmdline(proc):
+            try:
+                return proc.cmdline()
+            except (psutil.ZombieProcess, psutil.NoSuchProcess, psutil.AccessDenied, OSError):
+                return []
+
+        p_list = []
+        for p in psutil.process_iter():
+            cmdline = safe_cmdline(p)
+            if cmdline and "rcssservermj" in " ".join(cmdline):
+                p_list.append(p)
+
         for p in p_list:
             # currently ignoring remaining default port when only one of the ports is specified (uncommon scenario)
-            ports = [int(arg) for arg in p.cmdline()[1:] if arg.isdigit()]
+            cmdline = safe_cmdline(p)
+            if not cmdline:
+                continue
+
+            ports = [int(arg) for arg in cmdline[1:] if arg.isdigit()]
             if len(ports) == 0:
                 ports = [60000, 60100]  # default server ports (changing this is unlikely)
 
@@ -128,7 +143,7 @@ class Server():
                     print("\nThere are already servers running on the same port(s)!")
                     found = True
                 bad_processes.append(p)
-                print(f"Port(s) {','.join(conflicts)} already in use by \"{' '.join(p.cmdline())}\" (PID:{p.pid})")
+                print(f"Port(s) {','.join(conflicts)} already in use by \"{' '.join(cmdline)}\" (PID:{p.pid})")
 
         if found:
             print()