def test_move_off_screen_test_2(self):
robot = GripperRobot(10, Heading.EAST, (1, 0))
game = TilingPatternGame((1, 1), 2, RandomRobotReset(GripperRobot, 0),
RandomWorldReset())
robot.step([True, 0, False, False], game)
self.assertEqual((1, 0), robot.location)
def test_pickup_none_action(self):
robot = GripperRobot(10, Heading.WEST, (1, 1))
game = self.default_game()
game.grid[1][1] = False
robot.step([False, 0, True, False], game)
self.assertFalse(robot.hold_object)
self.assertFalse(game.grid[1][1])
def test_pickup_none(self):
robot = GripperRobot(10, Heading.WEST, (1, 1))
game = self.default_game()
game.grid[1][1] = False
robot.pickup(game)
self.assertFalse(robot.hold_object)
self.assertFalse(game.grid[1][1])
def test_drop_occupied_action(self):
robot = GripperRobot(10, Heading.WEST)
robot.hold_object = True
game = self.default_game()
game.grid[0][0] = True
robot.step([False, 0, False, True], game)
self.assertTrue(robot.hold_object)
self.assertTrue(game.grid[0][0])
def test_drop(self):
robot = GripperRobot(10, Heading.WEST, (1, 1))
robot.hold_object = True
game = self.default_game()
game.grid[1][1] = False
robot.drop(game)
self.assertFalse(robot.hold_object)
self.assertTrue(game.grid[1][1])
def test_drop_occupied(self):
robot = GripperRobot(10, Heading.WEST)
robot.hold_object = True
game = self.default_game()
game.grid[0][0] = True
robot.drop(game)
self.assertTrue(robot.hold_object)
self.assertTrue(game.grid[0][0])
def test_empty_observation(self):
robot = GripperRobot(10, Heading.NORTH, (5, 5))
game = self.default_game10x10()
game.grid = np.zeros((10, 10))
observation = robot.get_observation(game)
self.assertEqual(17, len(observation))
for i in range(len(observation)):
self.assertEqual(0, observation[i])
def test_pickup(self):
robot = GripperRobot(10, Heading.WEST)
game = TilingPatternGame((1, 1), 1, RandomRobotReset(GripperRobot, 0),
RandomWorldReset())
game.reset()
self.assertTrue(game.grid[0][0])
robot.pickup(game)
self.assertTrue(robot.hold_object)
self.assertFalse(game.grid[0][0])
def test_robot_observation_1(self):
robot = GripperRobot(10, Heading.NORTH, (5, 5))
game = self.default_game10x10()
game.grid = np.zeros((10, 10))
game.robots.append(GripperRobot(11, location=(6, 5)))
observation = robot.get_observation(game)
for i in range(16):
self.assertEqual(0, observation[i])
self.assertEqual(1, observation[16])
def test_border_observation_3(self):
robot = GripperRobot(10, Heading.EAST, (9, 0))
game = self.default_game10x10()
game.grid = np.zeros((10, 10))
observation = robot.get_observation(game)
for i in [0, 1, 3, 4, 6, 7, 9, 10, 12, 13, 14, 15, 16]:
self.assertEqual(0, observation[i])
for i in [2, 5, 8, 11]:
self.assertEqual(1, observation[i])
def test_robot_observation_5(self):
robot = GripperRobot(10, Heading.NORTH, (5, 5))
game = self.default_game10x10()
game.grid = np.zeros((10, 10))
game.robots.append(GripperRobot(11, location=(4, 4)))
observation = robot.get_observation(game)
self.assertEqual(1, observation[7])
for i in [0, 1, 2, 3, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 15, 16]:
self.assertEqual(0, observation[i])
def test_tile_everywhere(self):
robot = GripperRobot(10, Heading.NORTH, (5, 5))
game = self.default_game10x10()
game.grid = np.zeros((10, 10))
game.grid[4][5] = 1
game.grid[6][5] = 1
game.grid[4][4] = 1
game.grid[5][4] = 1
game.grid[6][4] = 1
observation = robot.get_observation(game)
for i in [3, 6, 9, 12, 15]:
self.assertEqual(1, observation[i])
for i in [0, 1, 2, 4, 5, 7, 8, 10, 11, 13, 14, 16]:
self.assertEqual(0, observation[i])
def test_robot_everywhere(self):
robot = GripperRobot(10, Heading.SOUTH, (5, 5))
game = self.default_game10x10()
game.grid = np.zeros((10, 10))
game.robots.append(GripperRobot(11, location=(4, 5)))
game.robots.append(GripperRobot(12, location=(6, 5)))
game.robots.append(GripperRobot(13, location=(4, 6)))
game.robots.append(GripperRobot(14, location=(5, 6)))
game.robots.append(GripperRobot(15, location=(6, 6)))
observation = robot.get_observation(game)
for i in [4, 7, 10, 13, 16]:
self.assertEqual(1, observation[i])
for i in [0, 1, 2, 3, 5, 6, 8, 9, 11, 12, 14, 15]:
self.assertEqual(0, observation[i])
def test_move_off_screen_test_3(self):
robot = GripperRobot(10, Heading.SOUTH, (1, 1))
game = self.default_game()
robot.step([True, 0, False, False], game)
self.assertEqual((1, 1), robot.location)
def test_rotate_robot_8(self):
robot = GripperRobot(10, Heading.WEST)
robot.rotate(-1)
self.assertEqual(Heading.SOUTH, robot.heading)
def test_rotate_robot_7(self):
robot = GripperRobot(10, Heading.WEST)
robot.rotate(1)
self.assertEqual(Heading.NORTH, robot.heading)
def test_rotate_robot_6(self):
robot = GripperRobot(10, Heading.SOUTH)
robot.rotate(-1)
self.assertEqual(Heading.EAST, robot.heading)
def test_move_forward_test_3(self):
robot = GripperRobot(10, Heading.NORTH, (0, 1))
game = self.default_game()
robot.step([True, 0, False, False], game)
self.assertEqual((0, 0), robot.location)
def test_rotate_robot_8_action(self):
robot = GripperRobot(10, Heading.WEST)
game = self.default_game()
robot.step([False, -1, False, False], game)
self.assertEqual(Heading.SOUTH, robot.heading)
def test_rotate_robot_2_action(self):
robot = GripperRobot(10, Heading.NORTH)
game = self.default_game()
robot.step([False, 0, False, False], game)
self.assertEqual(Heading.NORTH, robot.heading)
def init_robot_test(self):
robot = GripperRobot(10, Heading.SOUTH, (5, 6))
self.assertEqual(10, robot.identifier)
self.assertEqual(Heading.SOUTH, robot.heading)
self.assertEqual((5, 6), robot.location)
