def success(cfg, stdout, parameter, val):
    """
    Success criteria for a given parameter value.
    This criteria must consider extreme environment conditions, unlike the one for reward generation.
    For example, extreme gravity can cause the robot to float or move with high velocity.
    """

    if cfg.env.env_name == "forward_locomotion":
        return forward_locomotion_success(stdout, parameter, val)
    elif cfg.env.env_name == "globe_walking":
        return globe_walking_success(stdout, parameter, val)
    else:
        raise NotImplementedError

    Success criteria for a given parameter value.
    This criteria must consider extreme environment conditions, unlike the one for reward generation.
    For example, extreme gravity can cause the robot to float or move with high velocity.
    
dr_eureka/rapp.py