def test_sameType(self):
n_tests = 0
total_test = 1
for i in range(total_test):
#Agents: Same type.
#Object: Not on edges.
#Distance: target_dist steps.
obj_pos, agent_pos = utils.generate_initial_conditions(
global_defs.N_TYPES, 2)
#ipdb.set_trace()
if True:
n_tests += 1
print("-----------Test Iter: {}-------------".format(i))
with self.subTest(i=i, msg='Experiment {}'.format(i)):
a1 = agent_lifter.agent_lifter(agent_pos[0], 2)
a2 = agent_lifter.agent_lifter(agent_pos[1], 2)
a3 = agent_adhoc.agent_adhoc(a2.pos)
env = environment.environment(global_defs.GRID_SIZE,
obj_pos, False)
env.register_agent(a1)
env.register_agent(a2)
n_steps = 0
#print("Target Distance: {}".format(target_dist))
#print("Object location {}".format(object_location))
print("A1 {}".format(a1.pos))
print("A2 {}".format(a2.pos))
while (not env.is_terminal):
is_terminal, reward = env.step()
#ipdb.set_trace()
time.sleep(0.1)
tp_estimate = a3.respond(env)
print("TPESTIMATE STEP", tp_estimate, env.step_count)
if env.step_count == 5:
a1.tp = 1
n_steps += 1
#print(n_steps)
#print("A1 {}".format(a1.pos))
#print("A2 {}".format(a2.pos))
#if is_terminal:
#print("Reward {}".format(reward))
if is_terminal:
print("Terminal Reward {}".format(reward))
print("N_iters {}".format(n_steps))
from src import global_defs
from src import utils
n_tests = 0
obj_pos, agent_pos = utils.generate_initial_conditions(global_defs.N_TYPES, 2)
i = 0
# ipdb.set_trace()
if True:
n_tests += 1
print("-----------Test Iter: {}-------------".format(i))
a1 = agent_lifter.agent_lifter(agent_pos[0], 2)
a2 = agent_adhoc.agent_adhoc(agent_pos[1])
env = environment.environment(global_defs.GRID_SIZE, obj_pos, True)
env.register_agent(a1)
env.register_adhoc_agent(a2)
n_steps = 0
# print("Target Distance: {}".format(target_dist))
# print("Object location {}".format(object_location))
while (not env.is_terminal):
is_terminal, reward = env.step()
# ipdb.set_trace()
time.sleep(0.1)
last_history = env.history[-1]
n_steps += 1
# print(n_steps)
if n_steps == 10:
def test_diffType(self):
n_tests = 0
total_test = 100
for i in range(total_test):
#Agents: Same type.
#Object: Not on edges.
#Distance: target_dist steps.
object_location = np.array(random.sample(range(1, 8), 4)[:2])
#Put agents target_dist positions away.
target_dist = 6
displacement = np.random.randint(-target_dist, target_dist, (2, 2))
displacement[:, 1] = random.choice(
[-1, 1]) * (target_dist - np.abs(displacement[:, 0]))
a1_pos = (object_location[0] + displacement[0][0],
object_location[1] + displacement[0][1])
a2_pos = (object_location[0] + displacement[1][0],
object_location[1] + displacement[1][1])
if not (utils.check_within_boundaries(a1_pos)
and utils.check_within_boundaries(a2_pos)):
continue
else:
n_tests += 1
print("-----------Test Iter: {}-------------".format(i))
with self.subTest(i=i, msg='Experiment {}'.format(i)):
self.assertTrue(
np.sum(np.abs(object_location -
a1_pos)) == target_dist)
self.assertTrue(
np.sum(np.abs(object_location -
a2_pos)) == target_dist)
a1 = agent_lifter.agent_lifter(a1_pos, 1)
a2 = agent_lifter.agent_lifter(a2_pos, 2)
object_location = global_defs.Point2D(
object_location[0], object_location[1])
env = environment.environment(
10, [object_location,
global_defs.Point2D(0, 0)], False)
env.register_agent(a1)
env.register_agent(a2)
n_steps = 0
print("******** Test 2 **************8")
print("Target Distance: {}".format(target_dist))
print("Object location {}".format(object_location))
while (not env.is_terminal and n_steps < 100):
is_terminal, reward = env.step()
n_steps += 1
if is_terminal:
print(n_steps)
print("A1 {}".format(a1))
print("A2 {}".format(a2))
print("Env {}".format(env))
print("Reward {} ".format(reward))
print("******************************")
#self.assertTrue(reward==0)
print("n_tests {} total_tests {}".format(n_tests, total_test))
def _test_sameType_copy_middleStep(self):
n_tests = 0
total_test = 100
for i in range(total_test):
#Agents: Same type.
#Object: Not on edges.
#Distance: target_dist steps.
object_location = np.array(random.sample(range(1, 8), 2)[:2])
#Put agents target_dist positions away.
target_dist = 6
displacement = np.random.randint(-target_dist, target_dist, (2, 2))
displacement[:, 1] = random.choice(
[-1, 1]) * (target_dist - np.abs(displacement[:, 0]))
a1_pos = (object_location[0] + displacement[0][0],
object_location[1] + displacement[0][1])
a2_pos = (object_location[0] + displacement[1][0],
object_location[1] + displacement[1][1])
if not (utils.check_within_boundaries(a1_pos)
and utils.check_within_boundaries(a2_pos)):
continue
else:
n_tests += 1
print("-----------Test Iter: {}-------------".format(i))
with self.subTest(i=i, msg='Experiment {}'.format(i)):
self.assertTrue(
np.sum(np.abs(object_location -
a1_pos)) == target_dist)
self.assertTrue(
np.sum(np.abs(object_location -
a2_pos)) == target_dist)
a1 = agent_lifter.agent_lifter(a1_pos, 1)
a2 = agent_lifter.agent_lifter(a2_pos, 1)
object_location = global_defs.Point2D(
object_location[0], object_location[1])
env = environment.environment(
10, [object_location,
global_defs.Point2D(0, 0)], False)
env.register_agent(a1)
env.register_agent(a2)
n_steps = 0
#print("Target Distance: {}".format(target_dist))
#print("Object location {}".format(object_location))
print("A1 {}".format(a1.pos))
print("A2 {}".format(a2.pos))
_, _ = env.step()
_, _ = env.step()
new_env = env.__copy__()
while (not env.is_terminal and n_steps < 10):
is_terminal, reward = env.step()
is_terminal2, reward2 = new_env.step()
self.assertEqual(is_terminal, is_terminal2)
self.assertEqual(reward, reward2)
s1 = env.__getstate__()
s2 = new_env.__getstate__()
try:
self.assertTrue(utils.compare_env_states(s1, s2))
except:
pdb.set_trace()
n_steps += 1
#print(n_steps)
#print("A1 {}".format(a1.pos))
#print("A2 {}".format(a2.pos))
#if is_terminal:
#print("Reward {}".format(reward))
if is_terminal:
print("Terminal Reward {}".format(reward))
print("N_iters {}".format(n_steps))
target_dist = 6
displacement = np.random.randint(-target_dist, target_dist, (2, 2))
displacement[:, 1] = random.choice(
[-1, 1]) * (target_dist - np.abs(displacement[:, 0]))
a1_pos = (object_location[0] + displacement[0][0],
object_location[1] + displacement[0][1])
a2_pos = (object_location[0] + displacement[1][0],
object_location[1] + displacement[1][1])
a1 = agent_lifter.agent_lifter(a1_pos, 1)
a2 = agent_lifter.agent_lifter(a2_pos, 1)
object_location = global_defs.Point2D(object_location[0], object_location[1])
env = environment.environment(
10, [object_location, global_defs.Point2D(0, 0)], True)
env.register_agent(a1)
env.register_agent(a2)
n_steps = 0
print("A1 {}".format(a1.pos))
print("A2 {}".format(a2.pos))
while (not env.is_terminal and n_steps < 10):
is_terminal, reward = env.step()
n_steps += 1
print(n_steps)
print("A1 {}".format(a1.pos))
print("A2 {}".format(a2.pos))
from src.environment import environment test = environment()