def test_spawner(spawner_limits, entity_counter, entity_type, entity_params):
playground = SingleRoom(size=(200, 200))
max_elem, prod_limit = spawner_limits
max_in_pg = min(spawner_limits)
spawner = Spawner(
entity_type,
playground.grid_rooms[0][0].get_area_sampler(),
entity_produced_params=entity_params,
probability=1,
max_elements_in_playground=max_in_pg,
production_limit=prod_limit,
)
playground.add_spawner(spawner)
engine = Engine(playground, time_limit=100)
while engine.game_on:
engine.step()
count = len(
[
elem
for elem in getattr(playground, entity_counter)
if isinstance(elem, entity_type)
]
)
assert count == max_in_pg
def test_portal(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
portal_1 = Portal(color=PortalColor.RED)
portal_2 = Portal(color=PortalColor.BLUE)
portal_3 = Portal(color=PortalColor.GREEN)
portal_4 = Portal(color=(50, 50, 50))
playground.add_agent(agent, ((100, 80), 0))
playground.add_element(portal_1, ((140, 80), math.pi))
playground.add_element(portal_2, ((50, 50), math.pi/2))
playground.add_element(portal_3, ((50, 120), -math.pi/2))
playground.add_element(portal_4, ((150, 160), math.pi))
portal_1.destination = portal_2
portal_3.destination = portal_4
engine = Engine(playground, time_limit=1000)
actions = {agent: {agent.longitudinal_force: 1}}
while engine.game_on:
engine.step(actions)
assert agent.position[1] == 160
assert agent.angle % (2 * math.pi) == math.pi
def test_dispenser_limit(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
dispenser = Dispenser(
element_produced=Candy,
production_area=CoordinateSampler(center=(50, 100),
area_shape='circle',
radius=10),
production_limit=1,
invisible_range=40,
element_produced_params={'reward': 1})
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(dispenser, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
total_rew = 0
while engine.game_on:
if engine.elapsed_time < 50:
actions = {agent: {agent.activate: 1}}
else:
actions = {agent: {agent.longitudinal_force: -1.}}
engine.step(actions)
total_rew += agent.reward
assert total_rew == 1
def test_rgb_on_teleports(base_forward_agent_random):
agent = base_forward_agent_random
agent.add_sensor(
RgbCamera(
anchor=agent.base_platform,
invisible_elements=agent.parts,
))
agent.add_sensor(
RgbCamera(
anchor=agent.base_platform,
min_range=agent.base_platform.radius,
))
playground = Teleports()
playground.add_agent(agent)
engine = Engine(playground, time_limit=10000)
engine.run()
assert 0 < agent.position[0] < playground.size[0]
assert 0 < agent.position[1] < playground.size[1]
playground.remove_agent(agent)
playground.reset()
def test_ray_sensors(ray_sensor, resolution, fov, obs_range, pg_sensor_class):
agent = HeadAgent(controller=RandomContinuous(), interactive=True)
agent.add_sensor(
ray_sensor(anchor=agent.head,
invisible_elements=agent.parts,
fov=fov,
resolution=resolution,
max_range=obs_range))
agent.add_sensor(
ray_sensor(anchor=agent.head,
min_range=agent.base_platform.radius,
fov=fov,
resolution=resolution,
max_range=obs_range))
playground = pg_sensor_class()
playground.add_agent(agent)
engine = Engine(playground, time_limit=100)
engine.run()
playground.remove_agent(agent)
playground.reset()
def test_openclose_switch(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
door = Door(start_point=(180, 180), end_point=(160, 160), door_depth=5)
playground.add_element(door, ((150, 150), 0))
switch_1 = OpenCloseSwitch(door=door, invisible_range=40)
playground.add_element(switch_1, ((140, 100), 0))
playground.add_agent(agent, ((100, 100), 0))
engine = Engine(playground, time_limit=100)
actions = {agent: {agent.activate: 1}}
engine.step(actions)
assert door not in playground.elements
engine.step(actions)
assert door in playground.elements
engine.step(actions)
assert door not in playground.elements
engine.step(actions)
assert door in playground.elements
def test_pose_sensors(pg_sensor_class):
agent = HeadAgent(controller=RandomContinuous(), interactive=True)
agent.add_sensor(Position(anchor=agent.head))
agent.add_sensor(Velocity(anchor=agent.head))
playground = pg_sensor_class()
playground.add_agent(agent)
engine = Engine(playground, time_limit=1000)
engine.run()
head = agent.head
pos_values = agent.sensors[0].sensor_values
assert head.position[0] == pos_values[0]
assert head.position[1] == pos_values[1]
assert head.angle == pos_values[2]
vel_values = agent.sensors[1].sensor_values
assert head.velocity[0] == vel_values[0]
assert head.velocity[1] == vel_values[1]
assert head.angular_velocity == vel_values[2]
playground.remove_agent(agent)
playground.reset()
def run_engine(base_agent, pg_class, **pg_params):
playground = pg_class(**pg_params)
playground.add_agent(base_agent, allow_overlapping=False)
engine = Engine(playground, time_limit=1000)
engine.run()
assert 0 < base_agent.position[0] < playground.size[0]
assert 0 < base_agent.position[1] < playground.size[1]
playground.remove_agent(base_agent)
def test_lock_key_door(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
playground.add_agent(agent, ((80, 100), 0))
door = Door(start_point=(180, 180), end_point=(160, 160), door_depth=5)
playground.add_element(door)
switch = ContactSwitch(door=door)
playground.add_element(switch, ((140, 100), 0))
engine = Engine(playground, time_limit=200)
# agent grasps and move forward
actions = {agent: { agent.longitudinal_force: 1}}
while engine.game_on:
engine.step(actions)
assert door not in playground.elements
# agent stands still
engine.reset()
assert door in playground.elements
while engine.game_on:
engine.step()
assert door in playground.elements
def test_multiagents_no_overlapping(pg_test_class):
playground = pg_test_class()
print('Starting Multiagent testing of ', pg_test_class.__name__)
for _ in range(4):
agent = BaseAgent(controller=RandomContinuous(), interactive=True)
playground.add_agent(agent, allow_overlapping=False)
assert len(playground.agents) == 4
engine = Engine(playground, time_limit=100)
engine.run()
def test_normalize_position_sensor():
agent = BaseAgent(controller=External(), rotate=True)
pos = Position(anchor=agent.base_platform, normalize=False)
pos_norm = Position(anchor=agent.base_platform, normalize=True)
agent.add_sensor(pos)
agent.add_sensor(pos_norm)
playground = SingleRoom((400, 400))
playground.add_agent(agent, initial_coordinates=((100, 200), math.pi))
engine = Engine(playground, time_limit=1000)
engine.update_observations()
assert np.all(pos.sensor_values == np.asarray((100, 200, math.pi)))
assert np.all(pos_norm.sensor_values == np.asarray((0.25, 0.5, 0.5)))
def test_engine(base_forward_agent_random):
playground = SingleRoom(size=(200, 200))
agent = base_forward_agent_random
engine = Engine(playground, time_limit=100)
playground.add_agent(agent)
assert len(engine.agents) == 1
playground.remove_agent(agent)
assert len(engine.agents) == 0
def test_termination_zone(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
goal = GoalZone(reward=100, size=(5, 5))
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(goal, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
actions = {agent: {agent.longitudinal_force: 1}}
while engine.game_on:
engine.step(actions)
assert agent.reward > 0
assert playground.done
def test_reward_zone(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
healing_zone = HealingZone(reward=3, limit=31)
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(healing_zone, ((100, 100), 0))
engine = Engine(playground, time_limit=50)
total_rew = 0
while engine.game_on:
engine.step()
total_rew += agent.reward
assert total_rew == 31
def test_contact_candy(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
candy = Candy(reward=12)
playground.add_agent(agent, ((60, 100), 0))
playground.add_element(candy, ((160, 100), 0))
engine = Engine(playground, time_limit=100)
total_rew = 0
actions = {agent: {agent.longitudinal_force: 1}}
while engine.game_on:
engine.step(actions)
total_rew += agent.reward
assert total_rew > 0
def test_disable_communication_receiver():
playground = SingleRoom(size=(300, 200))
agent_1 = BaseAgent(
controller=External(),
interactive=False,
rotate=False,
lateral=False
)
agent_2 = BaseAgent(
controller=External(),
interactive=False,
rotate=False,
lateral=False
)
comm_1 = CommunicationDevice(agent_1.base_platform)
agent_1.add_communication(comm_1)
comm_2 = CommunicationDevice(agent_2.base_platform)
agent_2.add_communication(comm_2)
playground.add_agent(agent_1, ((100, 100), 0))
playground.add_agent(agent_2, ((200, 100), 0))
disabler = CommunicationDisabler()
playground.add_element(disabler, ((200, 100), 0))
assert agent_1.communication
assert agent_2.communication
engine = Engine(playground)
messages = [(comm_1, 'test', comm_2)]
engine.step(messages=messages)
assert not comm_1._disabled
assert comm_2._disabled
assert comm_2.received_message == []
def test_beam_area(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
area = CoordinateSampler(center=(50, 50), area_shape='rectangle', size=(20, 20))
beam = InvisibleBeam(destination=area)
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(beam, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
actions = {agent: {agent.longitudinal_force: 1}}
while not agent.has_teleported:
engine.step(actions)
assert 30 <= agent.position[0] <= 80
assert 30 <= agent.position[1] <= 80
def test_contact_termination(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
goal = VisibleEndGoal(reward=100)
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(goal, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
total_rew = 0
actions = {agent: {agent.longitudinal_force: 1}}
while engine.game_on:
engine.step(actions)
total_rew += agent.reward
assert total_rew > 0
assert playground.done
def test_beam_homing(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
destination = Physical(config_key='pentagon')
playground.add_element(destination, ((70, 70), 0))
beam = VisibleBeamHoming(destination=destination, invisible_range=4)
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(beam, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
actions = {agent: {agent.longitudinal_force: 1}}
while not agent.has_teleported:
engine.step(actions)
assert agent.position.get_distance(destination.position) < agent.base_platform.radius + destination.radius + 4 + 3
def test_reward_on_activation(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
roa = RewardOnActivation(reward=5, quantity_rewards=10, invisible_range=40)
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(roa, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
total_rew = 0
actions = {agent: {agent.activate: 1}}
while engine.game_on:
engine.step(actions)
total_rew += agent.reward
assert total_rew == 50
def test_grasping():
playground = SingleRoom(size=(200, 200))
agent_1 = BaseAgent(
controller=External(),
interactive=True,
rotate=True,
lateral=False,
radius=10,
)
playground.add_agent(agent_1, ((100, 100), 0))
elem = Physical(config_key='circle', mass=5, radius=10, graspable=True)
initial_position_elem = ((100 + agent_1.base_platform.radius + elem.radius + 2, 100), 0)
playground.add_element(elem, initial_position_elem)
engine = Engine(playground)
actions = {agent_1: {agent_1.grasp: 1, agent_1.rotation_velocity: 1}}
engine.step(actions)
engine.step(actions)
assert (elem.position, elem.angle) != initial_position_elem
assert elem.held_by[0].part.agent is agent_1
engine.step()
assert not elem.held_by
def test_moving_element(basic_element):
playground = SingleRoom(size=(200, 200))
agent = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
actions = {agent: {agent.longitudinal_force: 1.}}
playground.add_agent(agent, ((50, 100), 0))
playground.add_element(basic_element, ((100, 100), 0))
engine = Engine(playground, time_limit=100)
while engine.game_on:
engine.step(actions)
if basic_element.movable:
assert agent.position[0] > 100
assert basic_element.position[0] > 100
else:
assert basic_element.position[0] == 100
def test_transmission_range(range_1, range_2, distance, in_range):
playground = SingleRoom(size=(300, 200))
agent_1 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
agent_2 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
comm_1 = CommunicationDevice(agent_1.base_platform, range_1)
agent_1.add_communication(comm_1)
comm_2 = CommunicationDevice(agent_2.base_platform, range_2)
agent_2.add_communication(comm_2)
playground.add_agent(agent_1, ((100, 100), 0))
playground.add_agent(agent_2, ((100 + distance, 100), 0))
assert agent_1.communication
assert agent_2.communication
assert comm_1.in_transmission_range(comm_2) is in_range
assert comm_2.in_transmission_range(comm_1) is in_range
engine = Engine(playground)
messages = [(comm_1, 'test', comm_2)]
engine.step(messages=messages)
if in_range:
assert comm_2.received_message == [(comm_1, 'test')]
else:
assert comm_2.received_message == []
def test_sensor_without_params(any_sensor, pg_sensor_class):
agent = HeadAgent(controller=RandomContinuous(), interactive=True)
agent.add_sensor(
any_sensor(
anchor=agent.head,
invisible_elements=agent.parts,
))
agent.add_sensor(
RgbCamera(
anchor=agent.base_platform,
min_range=agent.base_platform.radius,
))
playground = pg_sensor_class()
playground.add_agent(agent)
engine = Engine(playground, time_limit=1000)
engine.run()
playground.remove_agent(agent)
playground.reset()
def test_color_changing(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
color_1 = (100, 100, 0)
color_2 = (0, 100, 100)
color_3 = (20, 200, 2)
colors = [color_1, color_2, color_3]
durations = [3, 4, 5]
elem = ColorChanging(textures=colors)
playground.add_agent(agent, ((80, 100), 0))
playground.add_element(
elem, ((80 + agent.base_platform.radius + elem.radius + 2, 100), 0))
timer = PeriodicTimer(durations=durations)
playground.add_timer(timer, elem)
engine = Engine(playground, time_limit=100)
while engine.game_on:
index_color = 0
for d in durations:
for _ in range(d):
assert elem.texture.base_color == colors[index_color]
engine.step()
index_color += 1
assert elem.texture.base_color == colors[0]
def test_wall_params_texture():
custom_texture = UniqueRandomTilesTexture(color_min=(0, 100, 0),
color_max=(250, 100, 0),
n_colors=10)
my_playground = GridRooms(size=(600, 600),
room_layout=(3, 3),
random_doorstep_position=False,
doorstep_size=80,
wall_texture=custom_texture)
engine = Engine(time_limit=10000, playground=my_playground)
engine.run()
engine.terminate()
def test_chest(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
playground.add_agent(agent, ((80, 100), 0))
chest = Chest(treasure=Candy())
playground.add_element(chest, ((140, 100), 0))
key = Key(graspable=True, locked_elem=chest, radius=5)
playground.add_element(
key, ((80 + agent.base_platform.radius + key.radius + 2, 100), 0))
engine = Engine(playground, time_limit=200)
# agent grasps and move forward
total_rew = 0
while engine.game_on:
actions = {agent: {agent.grasp: 1, agent.longitudinal_force: 1}}
engine.step(actions)
total_rew += agent.reward
assert total_rew > 0
# agent stands still
engine.reset()
total_rew = 0
while engine.game_on:
engine.step()
total_rew += agent.reward
assert total_rew == 0
def test_multisteps(base_forward_agent_random, pg_test_class):
agent = base_forward_agent_random
sensor = Touch(name='touch_1', anchor=agent.base_platform)
agent.add_sensor(sensor)
playground = pg_test_class()
print('Starting Multistep testing of ', pg_test_class.__name__)
playground.add_agent(agent)
engine = Engine(playground, time_limit=10000)
while engine.game_on:
actions = {}
for agent in engine.agents:
actions[agent] = agent.controller.generate_actions()
engine.multiple_steps(actions=actions, n_steps=3)
engine.update_observations()
engine.terminate()
playground.remove_agent(agent)
def test_time_sensor(pg_sensor_class):
agent = HeadAgent(controller=RandomContinuous(), interactive=True)
agent.add_sensor(Time(anchor=agent.head))
playground = pg_sensor_class()
playground.add_agent(agent)
engine = Engine(playground, time_limit=100)
for _ in range(100):
engine.run(1)
time_value = agent.sensors[0].sensor_values
assert engine.elapsed_time == time_value
engine.reset()
engine.run(1)
time_value = agent.sensors[0].sensor_values
assert 1 == time_value
playground.remove_agent(agent)
playground.reset()
def test_list_sensors():
playground = SingleRoom(size=(300, 200))
agent_1 = BaseAgent(
controller=External(),
interactive=False,
rotate=False,
lateral=False
)
sensor_1 = RgbCamera(anchor=agent_1.base_platform, invisible_elements=agent_1.parts, range=400)
sensor_2 = Lidar(anchor=agent_1.base_platform, invisible_elements=agent_1.parts, range=400)
sensor_3 = SemanticRay(anchor=agent_1.base_platform, invisible_elements=agent_1.parts, range=400)
agent_1.add_sensor(sensor_1)
agent_1.add_sensor(sensor_2)
agent_1.add_sensor(sensor_3)
playground.add_agent(agent_1, ((100, 100), 0))
disabler = SensorDisabler(disabled_sensor_types=[RgbCamera, SemanticRay])
playground.add_element(disabler, ((100, 100), 0))
engine = Engine(playground)
engine.step()
engine.update_observations()
for sensor in [sensor_1, sensor_2, sensor_3]:
if isinstance(sensor, RgbCamera):
assert sensor._disabled
assert np.all(sensor.sensor_values == sensor._get_null_sensor())
elif isinstance(sensor, SemanticRay):
assert sensor._disabled
assert sensor.sensor_values == sensor._get_null_sensor()
else:
assert not sensor._disabled
if isinstance(sensor.sensor_values, np.ndarray):
assert not np.all(sensor.sensor_values == sensor._get_null_sensor())
else:
assert not sensor.sensor_values == sensor._get_null_sensor()
