def test_puddle_world_calculates_transition_with_multiple_slow_puddles(
self):
# This world has 2 circular ⚫️ slow puddles centered in the middle
# of the arena. One had a radius of 0.25, and the other 0.1. We expect
# that as we move through the larger one, we will be slowed to
# 0.5 times base speed, and as we move through both we will be slowed to
# 0.25 times base speed. 🐌
pw = puddle_world.PuddleWorld(
puddles=(puddle_world.SlowPuddle(
shape=puddle_world.circle(geometry.Point((0.5, 0.5)), 0.25)),
puddle_world.SlowPuddle(
shape=puddle_world.circle(geometry.Point((
0.5, 0.5)), 0.1))),
goal_position=geometry.Point((0.5, 0.5)),
noise=0.0,
thrust=0.5) # A large thrust to step over multiple circles.
start_position = geometry.Point((0.2, 0.5))
transition = pw.transition(start_position, puddle_world.Action.RIGHT)
# 0.5 total movement 🏃
# 0.05 spent getting to first circle's edge.
# 0.3 spent getting to second circle's edge.
# 0.15 remaining at 25% efficiency => 0.0375 into inner circle.
expected_end_position = geometry.Point((0.4375, 0.5))
self.assertEqual(transition.state, start_position)
self.assertPointsAlmostEqual(transition.next_state,
expected_end_position)
def test_slow_puddle_uses_movement_as_expected(self,
start_point,
end_point,
expected_end_point,
multiplier=0.5):
shape = rectangle(geometry.Point((0.0, 0.0)), geometry.Point(
(1.0, 1.0)))
wall = puddle_world.SlowPuddle(shape, multiplier)
new_end_point = wall.update_transition_end_point(
start_point, end_point)
self.assertAlmostEqual(new_end_point, expected_end_point)
def test_puddle_world_correctly_applies_wall_puddles(self):
pw = puddle_world.PuddleWorld(
puddles=(puddle_world.SlowPuddle(
shape=puddle_world.circle(geometry.Point((0.5, 0.5)), 0.25)),
puddle_world.WallPuddle(
shape=puddle_world.circle(geometry.Point((
0.5, 0.5)), 0.1))),
goal_position=geometry.Point((0.5, 0.5)),
noise=0.0,
thrust=0.5) # A large thrust to step over multiple circles.
start_position = geometry.Point((0.2, 0.5))
transition = pw.transition(start_position, puddle_world.Action.RIGHT)
# We should stop at the inner wall puddle.
expected_end_position = geometry.Point((0.4, 0.5))
self.assertEqual(transition.state, start_position)
self.assertPointsAlmostEqual(transition.next_state,
expected_end_position)
"""PuddleWorld arenas."""
import frozendict
from shapely import geometry
from aux_tasks.puddle_world import puddle_world
# Repeated shapes
_TOP_WALL = geometry.Polygon(((0.4, 1.0), (0.4, 0.6), (0.6, 0.6), (0.6, 1.0)))
_BOTTOM_WALL = geometry.Polygon(
((0.4, 0.0), (0.4, 0.4), (0.6, 0.4), (0.6, 0.0)))
EMPTY = ()
HYDROGEN = (
puddle_world.SlowPuddle(
puddle_world.circle(geometry.Point((0.5, 0.5)), 0.3)),
puddle_world.SlowPuddle(
puddle_world.circle(geometry.Point((0.5, 0.5)), 0.15)),
)
SUTTON = (
puddle_world.SlowPuddle(
geometry.LineString([(0.1, 0.75), (0.45, 0.75)]).buffer(0.1)),
puddle_world.SlowPuddle(
geometry.LineString([(0.45, 0.4), (0.45, 0.8)]).buffer(0.1)),
)
TWO_ROOM = (
puddle_world.WallPuddle(_TOP_WALL),
puddle_world.WallPuddle(_BOTTOM_WALL),
)