def test_computation(self, name, orien, expected_reward, mock_euler,
mock_orien):
mock_orien.return_value = None, None
orien_radians = tuple(i * np.pi / 180 for i in orien)
mock_euler.return_value = orien_radians
reward = rewards.UprightReward(None)
reward.client = self.client
self.assertEqual(reward.compute(), expected_reward)
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
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.reward_factory.register_reward(1,rewards.UprightReward(env.robot))
env.termination_factory.register_termination(terms.PerpetualTermination())
joint_params = []
num_joints = env.client.getNumJoints(env.robot)
for joint in range(num_joints):
joint_params.append(env.client.addUserDebugParameter(
'Joint {}'.format(
env.client.getJointInfo(env.robot, joint)[1].decode('UTF-8')),
-2 * np.pi, 2 * np.pi, 0))
camera_params = {
'fov': env.client.addUserDebugParameter('fov', 30, 150, 80),
'distance': env.client.addUserDebugParameter('distance', .1, 5, 1.5),
'yaw': env.client.addUserDebugParameter('yaw', -90, 90, 0),
def test_init(self):
robot_id = 0
r = rewards.UprightReward(robot_id)
r.client = self.client
self.assertEqual(robot_id, r._robot_id)