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Motion planning tests #76

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0ee5652
the dwa is cooked
Jawad12256 Nov 19, 2025
bc68db2
Merge branch 'main' into dwa-new
wowthecoder Nov 19, 2025
0f4327b
Merge branch 'main' into dwa-new
wowthecoder Nov 24, 2025
ad2bd95
test: write simple straight line test
wowthecoder Nov 25, 2025
855fb39
test: uncomment straight line test with obstacles
wowthecoder Nov 25, 2025
7be09fa
test: moving robots obstacle course, also added separate motion contr…
wowthecoder Nov 25, 2025
c2a697a
test: implement unit test of 12 robots dashing straight at each other
wowthecoder Nov 26, 2025
c75f02a
test: implement test with 6 robots moving randomly in a half court
wowthecoder Nov 26, 2025
37eeb8e
revert dwa config and planner
wowthecoder Nov 26, 2025
d0b3a6d
rename test file
wowthecoder Nov 26, 2025
7a47ec2
Merge branch 'main' into motion-planning-tests
wowthecoder Nov 26, 2025
cc57336
changed to from 6 to 2 robots so inevitable collisions are reduced
valentinbruehl Nov 30, 2025
dba9797
Random movement test terminates after 3 targets reached
valentinbruehl Dec 2, 2025
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7 changes: 6 additions & 1 deletion utama_core/run/strategy_runner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,7 @@ def __init__(
field_bounds: FieldBounds = Field.full_field_bounds,
opp_strategy: Optional[AbstractStrategy] = None,
control_scheme: str = "pid",
opp_control_scheme: Optional[str] = None, # For testing
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Copilot AI Nov 26, 2025

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[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)".

Suggested change
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)

Copilot uses AI. Check for mistakes.
replay_writer_config: Optional[ReplayWriterConfig] = None,
print_real_fps: bool = False, # Turn this on for RSim
profiler_name: Optional[str] = None,
Expand All @@ -103,6 +104,10 @@ def __init__(
self.opp_strategy = opp_strategy

self.motion_controller = get_control_scheme(control_scheme)
if opp_control_scheme is not None:
self.opp_motion_controller = get_control_scheme(opp_control_scheme)
else:
self.opp_motion_controller = self.motion_controller

self.my_strategy.setup_behaviour_tree(is_opp_strat=False)
if self.opp_strategy:
Expand Down Expand Up @@ -356,7 +361,7 @@ def _load_robot_controllers(self):
self.my_strategy.load_motion_controller(self.motion_controller(self.mode, self.rsim_env))
if self.opp_strategy:
self.opp_strategy.load_robot_controller(opp_robot_controller)
self.opp_strategy.load_motion_controller(self.motion_controller(self.mode, self.rsim_env))
self.opp_strategy.load_motion_controller(self.opp_motion_controller(self.mode, self.rsim_env))

def _load_game(self):
"""
Expand Down
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