def test_ray_sensors(ray_sensor, resolution, fov, obs_range):
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
))
for pg_class in [Basics, Teleports, Interactives, ]:
playground = pg_class()
playground.add_agent(agent)
engine = Engine(playground, time_limit=100)
engine.run()
playground.remove_agent(agent)
playground.reset()
def run_engine(agent, pg_class):
playground = pg_class()
playground.add_agent(agent)
engine = Engine(playground, time_limit=100)
engine.run()
assert 0 < agent.position[0] < playground.size[0]
assert 0 < agent.position[1] < playground.size[1]
playground.remove_agent(agent)
def test_sensor_without_params(single_sensor):
agent = HeadAgent(controller=RandomContinuous(), interactive=True)
agent.add_sensor(single_sensor(anchor=agent.head,
invisible_elements=agent.parts,
))
for pg_class in [Basics, Teleports, Interactives, ]:
playground = pg_class()
playground.add_agent(agent)
engine = Engine(playground, time_limit=100)
engine.run()
playground.remove_agent(agent)
playground.reset()
def test_all_test_playgrounds_interactive(base_forward_agent, pg_rl_cls):
agent = base_forward_agent
playground = pg_rl_cls()
playground.add_agent(agent, allow_overlapping=False)
print('Starting testing of ', pg_rl_cls.__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_all_test_playgrounds(base_forward_agent):
agent = base_forward_agent
for _, pg_class in PlaygroundRegister.playgrounds['test'].items():
playground = pg_class()
playground.add_agent(agent, allow_overlapping=False)
print('Starting testing of ', pg_class.__name__)
engine = Engine(playground, time_limit=10000)
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_rgb_on_teleports(base_forward_agent):
agent = base_forward_agent
agent.add_sensor(RgbCamera(anchor=agent.base_platform,
invisible_elements=agent.parts,
))
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_multiagents_no_overlapping(base_forward_agent):
for pg_name, pg_class in PlaygroundRegister.playgrounds['test'].items():
playground = pg_class()
print('Starting Multiagent testing of ', pg_class.__name__)
center, shape = playground.area_rooms[(0, 0)]
pos_area_sampler = CoordinateSampler(center=center,
area_shape='rectangle',
width_length=shape)
for _ in range(2):
agent = BaseAgent(controller=RandomContinuous(), interactive=True)
playground.add_agent(agent, pos_area_sampler)
assert len(playground.agents) == 2
engine = Engine(playground, time_limit=100, screen=False)
engine.run(update_screen=False)
def test_engine_run(base_forward_agent):
playground = SingleRoom(size=(200, 200))
agent = base_forward_agent
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):
print('Testing of agent moving to different environments')
agent = base_forward_agent
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)