import gym
import numpy as np
from gym_solo.envs import solo8v2vanilla
from gym_solo.core import obs
from gym_solo.core import rewards
from gym_solo.core import termination as terms
if __name__ == '__main__':
config = solo8v2vanilla.Solo8VanillaConfig()
env: solo8v2vanilla.Solo8VanillaEnv = gym.make('solo8vanilla-v0', use_gui=True,
realtime=True, config=config)
env.obs_factory.register_observation(obs.TorsoIMU(env.robot))
env.termination_factory.register_termination(terms.PerpetualTermination())
flat = rewards.FlatTorsoReward(env.robot, hard_margin=.1, soft_margin=np.pi)
height = rewards.TorsoHeightReward(env.robot, 0.33698, 0.025, 0.15)
small_control = rewards.SmallControlReward(env.robot, margin=10)
no_move = rewards.HorizontalMoveSpeedReward(env.robot, 0, hard_margin=.5,
soft_margin=3)
stand = rewards.AdditiveReward()
stand.client = env.client
stand.add_term(0.5, flat)
stand.add_term(0.5, height)
home_pos = rewards.MultiplicitiveReward(1, stand, small_control, no_move)
env.reward_factory.register_reward(1, home_pos)
def test_is_terminated(self):
term = termination.PerpetualTermination()
# Arbitrary count, just need to ensure that always returns False
for i in range(1000):
self.assertFalse(term.is_terminated())