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_grasping_sensor():
playground = SingleRoom(size=(200, 200))
agent_1 = BaseAgent(
controller=External(),
interactive=True,
rotate=True,
lateral=False,
radius=10,
)
rgb = RgbCamera(anchor=agent_1.base_platform)
agent_1.add_sensor(rgb)
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)
engine.step()
engine.update_observations()
obs_1 = rgb.sensor_values[:]
actions = {agent_1: {agent_1.grasp: 1}}
engine.step(actions)
engine.update_observations()
obs_2 = rgb.sensor_values[:]
engine.update_observations(grasped_invisible=True)
obs_3 = rgb.sensor_values[:]
assert (obs_1 == obs_2).all()
assert (obs_3 != obs_1).any()
playground.remove_add_within(elems_remove=[elem], elems_add=[])
engine.step()
engine.update_observations()
obs_4 = rgb.sensor_values[:]
assert (obs_4 == obs_3).all()
def test_equip_communication(comm_radius):
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, comm_radius)
agent_1.add_communication(comm_1)
playground.add_agent(agent_1, ((100, 100), 0))
playground.add_agent(agent_2, ((200, 100), 0))
assert agent_1.communication
assert not agent_2.communication
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_multiagents(pg_test_class):
playground = pg_test_class()
print('Starting Multiagent testing of ', pg_test_class.__name__)
pos_area_sampler = playground.initial_agent_coordinates
for _ in range(100):
agent = BaseAgent(controller=RandomContinuous(), interactive=True)
playground.add_agent(agent, pos_area_sampler)
assert len(playground.agents) == 100
engine = Engine(playground, time_limit=100)
engine.run()
engine.terminate()
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_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_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()
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_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 run_drones(pg_width, n_agents):
n_elem_per_dim = int(pg_width / 100)
size_elem = 20
fps = 0
for run in range(N_RUNS):
pg = BasicUnmovable(size=(pg_width, pg_width), size_elements=size_elem, n_elements_per_dim=n_elem_per_dim)
for agent in range(n_agents):
my_agent = BaseAgent(controller=RandomContinuous(), lateral=False, rotate=True, interactive=False)
sem_cones = SemanticCones(anchor=my_agent.base_platform,
normalize=False,
n_cones=36,
rays_per_cone=4,
max_range=200,
fov=360)
my_agent.add_sensor(sem_cones)
lidar = Lidar(anchor= my_agent.base_platform,
normalize=False,
resolution=60,
max_range=300,
fov=180,
)
my_agent.add_sensor(lidar)
touch = Touch(anchor= my_agent.base_platform,
normalize=True,
fov=360,
max_range=5,
resolution=36)
my_agent.add_sensor(touch)
pos = Position(anchor=my_agent.base_platform)
my_agent.add_sensor(pos)
pg.add_agent(my_agent)
engine_ = Engine(playground=pg, time_limit=RUN_DURATION)
t_start = time.time()
while engine_.game_on:
actions = {}
for agent in pg.agents:
actions[agent] = agent.controller.generate_actions()
engine_.step(actions=actions)
engine_.update_observations()
t_end = time.time()
fps += (RUN_DURATION/ (t_end - t_start)) / N_RUNS
return fps
def test_directed_broadcast():
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)
agent_3 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
agent_4 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
comm_1 = CommunicationDevice(agent_1.base_platform, receiver_capacity=1)
agent_1.add_communication(comm_1)
comm_2 = CommunicationDevice(agent_2.base_platform, receiver_capacity=2)
agent_2.add_communication(comm_2)
comm_3 = CommunicationDevice(agent_3.base_platform, receiver_capacity=3)
agent_3.add_communication(comm_3)
comm_4 = CommunicationDevice(agent_4.base_platform, receiver_capacity=4)
agent_4.add_communication(comm_4)
playground.add_agent(agent_1, ((100, 100), 0))
playground.add_agent(agent_2, ((180, 100), 0))
playground.add_agent(agent_3, ((200, 120), 0))
playground.add_agent(agent_4, ((100, 200), 0))
engine = Engine(playground)
# Directed message
msg_to_single_agent = [(comm_1, 'test', comm_2)]
engine.step(messages=msg_to_single_agent)
assert comm_1.received_message == []
assert comm_2.received_message == [(comm_1, 'test')]
assert comm_3.received_message == []
assert comm_4.received_message == []
# No message, verify receivers are empty
engine.step()
assert comm_1.received_message == []
assert comm_2.received_message == []
assert comm_3.received_message == []
assert comm_4.received_message == []
# Broadcast message
msg_to_all_agents = [(comm_1, 'test', None)]
engine.step(messages=msg_to_all_agents)
assert comm_1.received_message == []
assert comm_2.received_message == [(comm_1, 'test')]
assert comm_3.received_message == [(comm_1, 'test')]
assert comm_4.received_message == [(comm_1, 'test')]
def test_capacity():
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)
agent_3 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
agent_4 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
comm_1 = CommunicationDevice(agent_1.base_platform, receiver_capacity=1)
agent_1.add_communication(comm_1)
comm_2 = CommunicationDevice(agent_2.base_platform, receiver_capacity=2)
agent_2.add_communication(comm_2)
comm_3 = CommunicationDevice(agent_3.base_platform, receiver_capacity=3)
agent_3.add_communication(comm_3)
comm_4 = CommunicationDevice(agent_4.base_platform, receiver_capacity=2)
agent_4.add_communication(comm_4)
playground.add_agent(agent_1, ((100, 100), 0))
playground.add_agent(agent_2, ((180, 100), 0))
playground.add_agent(agent_3, ((200, 120), 0))
playground.add_agent(agent_4, ((100, 200), 0))
engine = Engine(playground)
# Broadcast message
msg_to_all_agents = [
(comm_1, 'test_1', None),
(comm_2, 'test_2', None),
(comm_3, 'test_3', None),
(comm_4, 'test_4', None),
]
engine.step(messages=msg_to_all_agents)
# Assert correct message length
assert len(comm_1.received_message) == 1
assert len(comm_2.received_message) == 2
assert len(comm_3.received_message) == 3
assert len(comm_4.received_message) == 2
# Assert priority is given to comm that are closer
assert comm_1.received_message == [(comm_2, 'test_2')]
assert comm_2.received_message == [(comm_3, 'test_3'), (comm_1, 'test_1')]
assert comm_3.received_message == [(comm_2, 'test_2'), (comm_1, 'test_1'),
(comm_4, 'test_4')]
def base_forward_interactive_agent_external():
agent = BaseAgent(
controller=External(),
interactive=True,
)
return agent
def base_forward_agent_random():
agent = BaseAgent(
controller=RandomDiscrete(),
interactive=False,
)
return agent