Create Home Position Reward

[goobta]

Closes #24.

Basically as mentioned before, this gives the maximal reward (~1) for the robot reaching the home position (quadrupedal standing). Big thing to note here is that the reward is dependent on both the height and the orientation, as shown in the line below:

gym_solo/gym_solo/core/rewards.py

Line 146 in 0c96a33

return 0.25 * orientation_reward + 0.75 * height_reward

However, notice that these are being weighted and summed together. This functionality is also built into our rewards_factory, but I just thought it was cleaner to implement it this way as the quadrupedal standing max height will be different from the bipedal standing one. However, if the relative weights between the two rewards needs to be optimized, then they will probably have to be split up so that W&B and tune it for us.

Note that #32 should probably be merged first cause that renames the test_rewards.py file, which this PR modifies. This PR is branched off of the previous one, so if #32 gets merged, this shouldn't have any problems.

[coveralls]

Pull Request Test Coverage Report for Build 427141405

• 34 of 34 (100.0%) changed or added relevant lines in 2 files are covered.
• No unchanged relevant lines lost coverage.
• Overall coverage increased (+0.09%) to 98.123%

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Totals
Change from base Build 406391266:	0.09%
Covered Lines:	732
Relevant Lines:	746

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💛 - Coveralls

[mahajanrevant]

You have the same code in one of the other reviews so those comments are applicable. I can approve this PR and we can resolve any concerning issues in the PR after this?

[goobta]

Since this is one of the earlier PRs, do you want me to merge this one first? idk if you left most of your comments in the other PRs or what would make this easiest for ya...

[mahajanrevant]

I am okay with you merging this in because I looked at the other PR before this so all my relevant comments are there

[mahajanrevant]

These changes are present in another PR. All relevant comments are present in that PR. Giving this PR approval based on this