def _init():
env_config = solo8v2vanilla.Solo8VanillaConfig()
env = gym.make('solo8vanilla-v0',
config=env_config,
normalize_actions=False)
env.obs_factory.register_observation(obs.TorsoIMU(env.robot))
env.obs_factory.register_observation(obs.MotorEncoder(env.robot))
env.termination_factory.register_termination(
terms.TimeBasedTermination(length))
stand_reward = rewards.AdditiveReward()
stand_reward.client = env.client
stand_reward.add_term(0.5, rewards.FlatTorsoReward(env.robot))
stand_reward.add_term(
0.5, rewards.TorsoHeightReward(env.robot, quad_standing_height))
home_pos_reward = rewards.MultiplicitiveReward(
1, stand_reward, rewards.SmallControlReward(env.robot),
rewards.HorizontalMoveSpeedReward(env.robot, 0))
home_pos_reward.client = env.client
env.reward_factory.register_reward(1, home_pos_reward)
return env
def test_reset(self):
max_step_delta = 3
term = termination.TimeBasedTermination(max_step_delta)
for i in range(max_step_delta):
self.assertFalse(term.is_terminated())
term.reset()
self.assertEqual(0, term.step_delta)
def test_is_terminated(self):
max_step_delta = 3
term = termination.TimeBasedTermination(max_step_delta)
for i in range(max_step_delta):
self.assertEqual(False, term.is_terminated())
self.assertEqual(i + 1, term.step_delta)
self.assertEqual(True, term.is_terminated())
self.assertEqual(max_step_delta + 1, term.step_delta)
def _init():
env_config = solo8v2vanilla.Solo8VanillaConfig()
env = gym.make('solo8vanilla-v0', config=env_config,
normalize_actions=False)
env.obs_factory.register_observation(obs.TorsoIMU(env.robot))
env.obs_factory.register_observation(obs.MotorEncoder(env.robot))
env.reward_factory.register_reward(1, rewards.UprightReward(env.robot))
env.termination_factory.register_termination(terms.TimeBasedTermination(length))
return env
def _init():
env_config = solo8v2vanilla.Solo8VanillaConfig()
env = gym.make('solo8vanilla-v0',
config=env_config,
normalize_actions=False)
env.obs_factory.register_observation(obs.TorsoIMU(env.robot))
env.obs_factory.register_observation(obs.MotorEncoder(env.robot))
env.termination_factory.register_termination(
terms.TimeBasedTermination(length))
env.reward_factory.register_reward(
.2, rewards.SmallControlReward(env.robot))
env.reward_factory.register_reward(
.2, rewards.HorizontalMoveSpeedReward(env.robot, 0))
env.reward_factory.register_reward(.3,
rewards.FlatTorsoReward(env.robot))
env.reward_factory.register_reward(
.3, rewards.TorsoHeightReward(env.robot, quad_standing_height))
return env
def _init():
env_config = solo8v2vanilla.Solo8VanillaConfig()
env_config.max_motor_rotation = max_motor_rot
env = gym.make('solo8vanilla-v0',
config=env_config,
normalize_actions=True,
normalize_observations=True)
env.obs_factory.register_observation(obs.TorsoIMU(env.robot))
env.obs_factory.register_observation(
obs.MotorEncoder(env.robot, max_rotation=max_motor_rot))
env.termination_factory.register_termination(
terms.TimeBasedTermination(length))
stand_reward = rewards.AdditiveReward()
stand_reward.client = env.client
stand_reward.add_term(
0.5,
rewards.FlatTorsoReward(env.robot,
hard_margin=fhm,
soft_margin=fsm))
stand_reward.add_term(
0.5,
rewards.TorsoHeightReward(env.robot,
stand_height,
hard_margin=thm,
soft_margin=tsm))
home_pos_reward = rewards.MultiplicitiveReward(
1, stand_reward, rewards.SmallControlReward(env.robot, margin=scm),
rewards.HorizontalMoveSpeedReward(env.robot,
0,
hard_margin=hmhm,
soft_margin=hmsm))
env.reward_factory.register_reward(1, home_pos_reward)
return env
def test_attributes(self):
max_step_delta = 3
term = termination.TimeBasedTermination(max_step_delta)
self.assertEqual(max_step_delta, term.max_step_delta)
self.assertEqual(0, term.step_delta)
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 = gym.make('solo8vanilla-v0',
use_gui=True,
realtime=True,
config=config)
env.obs_factory.register_observation(obs.TorsoIMU(env.robot))
env.reward_factory.register_reward(1, rewards.UprightReward(env.robot))
env.termination_factory.register_termination(
terms.TimeBasedTermination(1000))
try:
print("""\n
=============================================
Solo 8 v2 Vanilla Episode Test
Simulation Active.
Exit with ^C.
=============================================
""")
for i in range(10):
env.reset()
done = False