def test_11x11_field(self):
game = TilingPatternGame((11, 11), 2,
RandomRobotReset(GripperRobot, 0),
RandomWorldReset())
game.reset()
self.assertEqual(36, game.num_tiles)
self.assertEqual(36, np.sum(np.sum(game.grid)))
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_one_by_one_field(self):
game = ForagingGame((1, 1), 1, (2, 2, 1, 1),
RandomRobotReset(ForagingRobot, 0),
RandomWorldReset())
game.reset()
self.assertEqual(1, game.num_tiles)
self.assertTrue(game.grid[0][0])
def __init__(self,
x_dim=7,
y_dim=5,
num_tiles=2,
target_area=(0, 0, 1, 1),
seed=None,
num_robots=5,
env_storage_path=None,
game_cls=ForagingGame):
super().__init__(seed)
if env_storage_path is not None:
env_storage = self.get_static_storage(env_storage_path)
assert isinstance(env_storage, ForagingGameStorage)
world_size = env_storage.grid.shape
num_tiles = env_storage.num_tiles
target_area = env_storage.target_area
robot_reset = StaticRobotReset(ForagingRobot,
env_storage.robot_pos)
world_reset = StaticWorldReset(env_storage.grid)
else:
world_size = (x_dim, y_dim)
robot_reset = RandomRobotReset(ForagingRobot, num_robots)
world_reset = RandomWorldReset()
self.game = game_cls(world_size, num_tiles, target_area, robot_reset,
world_reset)
def test_inside_grid_true(self):
game = TilingPatternGame((11, 11), 2,
RandomRobotReset(GripperRobot, 0),
RandomWorldReset())
self.assertTrue(game.inside_grid((0, 0)))
self.assertTrue(game.inside_grid((10, 0)))
self.assertTrue(game.inside_grid((10, 10)))
self.assertTrue(game.inside_grid((0, 10)))
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 static_correct_storage():
game = TilingPatternGame((7, 5), 2, 0, RandomWorldReset())
game.grid = np.zeros((7, 5), dtype=int)
for i in range(0, 7, 2):
for j in range(0, 5, 2):
game.grid[i][j] = 1
return TilingPatternGameStorage(game)
def test_inside_grid_false(self):
game = TilingPatternGame((11, 11), 2,
RandomRobotReset(GripperRobot, 0),
RandomWorldReset())
self.assertFalse(game.inside_grid((-1, 0)))
self.assertFalse(game.inside_grid((0, -1)))
self.assertFalse(game.inside_grid((-1, -1)))
self.assertFalse(game.inside_grid((11, 0)))
self.assertFalse(game.inside_grid((0, 11)))
self.assertFalse(game.inside_grid((11, 11)))
self.assertFalse(game.inside_grid((-1, 11)))
self.assertFalse(game.inside_grid((11, -1)))
def __init__(self, lattice_size=2, x_dim=7, y_dim=5, seed=None, num_robots=5, env_storage_path=None,
game_cls=TilingPatternGame):
super().__init__(seed)
if env_storage_path is not None:
env_storage = self.get_static_storage(env_storage_path)
assert isinstance(env_storage, TilingPatternGameStorage)
robot_reset = StaticRobotReset(GripperRobot, env_storage.robot_pos)
world_reset = StaticWorldReset(env_storage.grid)
world_size = env_storage.grid.shape
lattice_size = env_storage.lattice_size
else:
robot_reset = RandomRobotReset(GripperRobot, num_robots)
world_reset = RandomWorldReset()
world_size = (x_dim, y_dim)
self.game = game_cls(world_size, lattice_size, robot_reset, world_reset)
def test_drop(self):
robot = ForagingRobot(10, Heading.WEST, (1, 1))
robot.hold_object = True
game = ForagingGame((2, 2), 2, (0, 0, 1, 1), RandomRobotReset(ForagingRobot, 5), RandomWorldReset())
game.grid[1][1] = False
robot.drop(game)
self.assertFalse(robot.hold_object)
self.assertTrue(game.grid[1][1])
def test_drop_foraging_area(self):
robot = ForagingRobot(10, Heading.WEST)
robot.hold_object = True
game = ForagingGame((2, 2), 2, (0, 0, 1, 1), RandomRobotReset(ForagingRobot, 5), RandomWorldReset())
game.grid[0][0] = False
self.assertEqual(0, game.get_fitness())
robot.drop(game)
self.assertFalse(robot.hold_object)
self.assertEqual(1, game.get_fitness())
def test_empty_observation(self):
robot = ForagingRobot(10, Heading.NORTH, (5, 5))
game = ForagingGame((10, 10), 2, (0, 0, 1, 1), RandomRobotReset(ForagingRobot, 5), RandomWorldReset())
game.grid = np.zeros((10, 10))
observation = robot.get_observation(game)
self.assertEqual(26, len(observation))
for i in range(len(observation)):
if i in [18, 21, 22]:
self.assertTrue(observation[i])
else:
self.assertEqual(0, observation[i])
def test_5x5_field(self):
game = TilingPatternGame((7, 5), 2, RandomRobotReset(GripperRobot, 0),
RandomWorldReset())
self.assertEqual(12, game.num_tiles)
def test_one_by_one_field(self):
game = TilingPatternGame((1, 1), 1, RandomRobotReset(GripperRobot, 0),
RandomWorldReset())
game.reset()
self.assertEqual(1, game.num_tiles)
self.assertTrue(game.grid[0][0])
def default_game7x5():
return ForagingGame((7, 5), 1, (2, 2, 2, 2),
RandomRobotReset(ForagingRobot, 5),
RandomWorldReset())
def default_game10x10():
return TilingPatternGame((10, 10), 2,
RandomRobotReset(GripperRobot, 0),
RandomWorldReset())
def default_game3x3():
return ForagingGame((3, 3), 8, (2, 2, 1, 1),
RandomRobotReset(ForagingRobot, 5),
RandomWorldReset())
def test_drop_occupied(self):
robot = ForagingRobot(10, Heading.WEST)
robot.hold_object = True
game = ForagingGame((2, 2), 2, (1, 1, 1, 1), RandomRobotReset(ForagingRobot, 5), RandomWorldReset())
game.grid[0][0] = True
robot.drop(game)
self.assertTrue(robot.hold_object)
self.assertTrue(game.grid[0][0])
def default_game4x4():
return ForagingGame((4, 4), 8, (1, 2, 1, 1),
RandomRobotReset(ForagingRobot, 5),
RandomWorldReset())