Motion planning tests #76
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it runs in sim but the robots are undergoing brownian motion
…oller for opponents for testing
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Pull request overview
This PR adds comprehensive motion planning tests for robot navigation and collision avoidance across various scenarios. The tests validate single-robot and multi-robot navigation with both static and dynamic obstacles using different control schemes (DWA and PID).
- Implements test strategies for simple navigation, random movement, oscillating obstacles, and multi-robot coordination
- Adds test cases covering scenarios from basic straight-line movement to complex multi-robot collision avoidance
- Extends
StrategyRunnerto support separate control schemes for opponent robots in testing scenarios
Reviewed changes
Copilot reviewed 9 out of 9 changed files in this pull request and generated 32 comments.
Show a summary per file
| File | Description |
|---|---|
utama_core/tests/motion_planning/strategies/simple_navigation_strategy.py |
Implements basic navigation behavior for moving a robot to a fixed target position |
utama_core/tests/motion_planning/strategies/random_movement_strategy.py |
Implements random movement behavior for testing collision avoidance with multiple robots moving to random targets |
utama_core/tests/motion_planning/strategies/oscillating_obstacle_strategy.py |
Implements oscillating obstacle behavior for testing dynamic obstacle avoidance |
utama_core/tests/motion_planning/strategies/multi_robot_navigation_strategy.py |
Implements strategy for controlling multiple robots, each navigating to their own target |
utama_core/tests/motion_planning/single_robot_static_obstacle_test.py |
Tests single robot navigation with static obstacles in various configurations |
utama_core/tests/motion_planning/single_robot_moving_obstacle_test.py |
Tests single robot navigation avoiding moving/oscillating obstacles |
utama_core/tests/motion_planning/random_movement_test.py |
Tests collision avoidance with 6 robots moving randomly within bounded area |
utama_core/tests/motion_planning/multiple_robots_test.py |
Tests multi-robot scenarios including mirror charge and diagonal crossing |
utama_core/run/strategy_runner.py |
Adds support for separate opponent control scheme to enable independent motion control in tests |
Comments suppressed due to low confidence (10)
utama_core/tests/motion_planning/strategies/multi_robot_navigation_strategy.py:7
- Import of 'Vector2D' is not used.
from utama_core.entities.data.vector import Vector2D
utama_core/tests/motion_planning/strategies/multi_robot_navigation_strategy.py:9
- Import of 'move' is not used.
from utama_core.skills.src.utils.move_utils import move
utama_core/tests/motion_planning/multiple_robots_test.py:8
- Import of 'LEFT_START_ONE' is not used.
Import of 'RIGHT_START_ONE' is not used.
from utama_core.config.formations import LEFT_START_ONE, RIGHT_START_ONE
utama_core/tests/motion_planning/multiple_robots_test.py:15
- Import of 'map_friendly_enemy_to_colors' is not used.
Import of 'map_left_right_to_colors' is not used.
from utama_core.global_utils.mapping_utils import (
map_friendly_enemy_to_colors,
map_left_right_to_colors,
)
utama_core/tests/motion_planning/strategies/random_movement_strategy.py:4
- Import of 'time' is not used.
import time
utama_core/tests/motion_planning/strategies/random_movement_strategy.py:5
- Import of 'Dict' is not used.
from typing import Dict, Optional, Tuple
utama_core/tests/motion_planning/random_movement_test.py:8
- Import of 'LEFT_START_ONE' is not used.
Import of 'RIGHT_START_ONE' is not used.
from utama_core.config.formations import LEFT_START_ONE, RIGHT_START_ONE
utama_core/tests/motion_planning/random_movement_test.py:15
- Import of 'map_friendly_enemy_to_colors' is not used.
Import of 'map_left_right_to_colors' is not used.
from utama_core.global_utils.mapping_utils import (
map_friendly_enemy_to_colors,
map_left_right_to_colors,
)
utama_core/tests/motion_planning/strategies/simple_navigation_strategy.py:5
- Import of 'np' is not used.
import numpy as np
utama_core/tests/motion_planning/strategies/simple_navigation_strategy.py:7
- Import of 'Sequence' is not used.
from py_trees.composites import Sequence
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| """Strategy for random movement within bounded area.""" | ||
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| import random | ||
| import time |
There was a problem hiding this comment.
Unused import. time is imported but never used in this file.
| import time |
| field_bounds: FieldBounds = Field.full_field_bounds, | ||
| opp_strategy: Optional[AbstractStrategy] = None, | ||
| control_scheme: str = "pid", | ||
| opp_control_scheme: Optional[str] = None, # For testing |
There was a problem hiding this comment.
[nitpick] Unclear inline comment. The comment "For testing" is too vague. Consider making it more descriptive, e.g., "Optional separate control scheme for opponent (used in testing to avoid obstacle avoidance interference)".
| opp_control_scheme: Optional[str] = None, # For testing | |
| opp_control_scheme: Optional[str] = None, # Optional separate control scheme for opponent (used in testing to avoid obstacle avoidance interference) |
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| import pytest | ||
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| from utama_core.config.formations import LEFT_START_ONE, RIGHT_START_ONE |
There was a problem hiding this comment.
Unused imports. LEFT_START_ONE and RIGHT_START_ONE are imported but never used in this file.
| from utama_core.config.formations import LEFT_START_ONE, RIGHT_START_ONE | |
| # from utama_core.config.formations import LEFT_START_ONE, RIGHT_START_ONE |
| from utama_core.global_utils.mapping_utils import ( | ||
| map_friendly_enemy_to_colors, | ||
| map_left_right_to_colors, | ||
| ) |
There was a problem hiding this comment.
Unused imports. map_friendly_enemy_to_colors and map_left_right_to_colors are imported but never used in this file.
| from utama_core.global_utils.mapping_utils import ( | |
| map_friendly_enemy_to_colors, | |
| map_left_right_to_colors, | |
| ) | |
| # from utama_core.global_utils.mapping_utils import ( | |
| # map_friendly_enemy_to_colors, | |
| # map_left_right_to_colors, | |
| # ) |
| class MirrorChargeConfig: | ||
| """Configuration for mirror positions where teams charge at each other.""" | ||
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| positions: list[tuple[float, float]] # Positions for one team (left side) | ||
| collision_threshold: float = ROBOT_RADIUS * 2.0 | ||
| endpoint_tolerance: float = 0.2 | ||
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| @dataclass |
There was a problem hiding this comment.
Unused class. MirrorChargeConfig is defined but never used in this file. Consider removing it or using it in the test_mirror_charge_head_on test instead of MultiRobotScenario.
| class MirrorChargeConfig: | |
| """Configuration for mirror positions where teams charge at each other.""" | |
| positions: list[tuple[float, float]] # Positions for one team (left side) | |
| collision_threshold: float = ROBOT_RADIUS * 2.0 | |
| endpoint_tolerance: float = 0.2 | |
| @dataclass |
| y_robots, b_robots = map_friendly_enemy_to_colors( | ||
| game.my_team_is_yellow, game.friendly_robots, game.enemy_robots | ||
| ) |
There was a problem hiding this comment.
Variable b_robots is not used.
| y_robots, b_robots = map_friendly_enemy_to_colors( | |
| game.my_team_is_yellow, game.friendly_robots, game.enemy_robots | |
| ) |
| from utama_core.entities.data.vector import Vector2D | ||
| from utama_core.entities.game.field import FieldBounds | ||
| from utama_core.skills.src.utils.move_utils import move | ||
| from utama_core.strategy.common.abstract_behaviour import AbstractBehaviour |
There was a problem hiding this comment.
Import of 'AbstractBehaviour' is not used.
| from utama_core.strategy.common.abstract_behaviour import AbstractBehaviour |
| """Tests for multiple robots collision avoidance scenarios.""" | ||
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| import os | ||
| from dataclasses import dataclass, field |
There was a problem hiding this comment.
Import of 'field' is not used.
| from dataclasses import dataclass, field | |
| from dataclasses import dataclass |
| import os | ||
| from dataclasses import dataclass, field | ||
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| import pytest |
There was a problem hiding this comment.
Import of 'pytest' is not used.
| import pytest |
| import os | ||
| from dataclasses import dataclass | ||
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| import pytest |
There was a problem hiding this comment.
Import of 'pytest' is not used.
| import pytest |
Added the following tests:
single_robot_static_obstacle_test.pysingle_robot_moving_obstacle_test.py5,6,7. Multiple obstacles oscillating horizontally or vertically between start and end positions
random_movement_test.py8. 6 robots of the same team moving around randomly in a half court
multiple_robots_test.py9. Mirror charge head on: 6 robots on each side of the pitch in mirror positions, target is their mirror counterpart's starting position
10. Diagonal charge: 4 robots one on each corner of a square area, try to go to the opposite corner via the main diagonal