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_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 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 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_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_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_all_rl_playgrounds(base_forward_agent_random, pg_rl_class):
agent = base_forward_agent_random
playground = pg_rl_class()
playground.add_agent(agent, allow_overlapping=False)
print('Starting testing of ', pg_rl_class.__name__)
engine = Engine(playground, time_limit=1000)
engine.run()
assert 0 < agent.position[0] < playground.size[0]
assert 0 < agent.position[1] < playground.size[1]
engine.terminate()
playground.remove_agent(agent)
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_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_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_engine_run(base_forward_agent_random):
playground = SingleRoom(size=(200, 200))
agent = base_forward_agent_random
playground.add_agent(agent)
engine = Engine(playground, time_limit=100)
pos_start = agent.position
engine.run()
assert pos_start != agent.position
playground.remove_agent(agent)
playground.add_agent(agent)
engine = Engine(playground, time_limit=100)
assert len(engine.agents) == 1
engine.run()
playground.remove_agent(agent)
engine = Engine(playground, time_limit=100)
playground.add_agent(agent)
assert len(engine.agents) == 1
engine.run()
def test_agent_in_different_environments(base_forward_agent_random):
print('Testing of agent moving to different environments')
agent = base_forward_agent_random
pg_1 = SingleRoom((300, 300))
pg_2 = SingleRoom((100, 100))
# Play in pg 1
pg_1.add_agent(agent)
engine = Engine(pg_1, 100)
engine.run()
engine.terminate()
pg_1.remove_agent(agent)
# Play in pg 2
pg_2.add_agent(agent)
engine = Engine(pg_2, 100)
engine.run()
engine.terminate()
pg_2.remove_agent(agent)
# Alternate between playgrounds
pg_1.reset()
pg_2.reset()
engine_1 = Engine(pg_1, 100)
engine_2 = Engine(pg_2, 100)
print('going to playground 1')
pg_1.add_agent(agent)
engine_1.run(10)
pg_1.remove_agent(agent)
print('going to playground 2')
pg_2.add_agent(agent)
engine_2.run(10)
pg_2.remove_agent(agent)
print('running playground 1 without agent')
engine_1.run(10)
assert engine_1.elapsed_time == 20
print('agent returning to playground 1')
pg_1.add_agent(agent)
engine_1.run()
engine_1.terminate()
pg_1.remove_agent(agent)
print('agent returning to playground 2')
pg_2.add_agent(agent)
engine_2.run()
engine_2.terminate()
pg_2.remove_agent(agent)
print(' Fail when adding agent to 2 playgrounds ')
pg_1.reset()
pg_2.reset()
pg_1.add_agent(agent)
