Import test cases created in dwa-new #75
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it runs in sim but the robots are undergoing brownian motion
…oller for opponents for testing
* reverted back to original setup * reverted typing --------- Co-authored-by: SSL_Linux_Laptop <firstorderrobotics@gmail.com>
…and normalized the different factors for scores
* add go to ball example strat * fixes from nov 26 * update settings * Update utama_core/strategy/examples/one_robot_placement_strategy.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update utama_core/strategy/examples/go_to_ball_ex.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update utama_core/strategy/examples/defense_strategy.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * correctly handle non sequential robot IDs * clean init * use timestep instead of mysterious 0.0167 * remove orientation if not in use * patch non sequential handling in replays * copy empty command instead of passing by reference * remove reference of squared distance * add todo tag for get_robot_responses --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* fix termination * revert main.py * better handling * some cleanup * add robot termination * some cleanup * remove CI on PR * change lint to run on push only
* the dwa is cooked it runs in sim but the robots are undergoing brownian motion * test: write simple straight line test * test: uncomment straight line test with obstacles * test: moving robots obstacle course, also added separate motion controller for opponents for testing * test: implement unit test of 12 robots dashing straight at each other * test: implement test with 6 robots moving randomly in a half court * revert dwa config and planner * rename test file * changed to from 6 to 2 robots so inevitable collisions are reduced * Random movement test terminates after 3 targets reached * Update utama_core/tests/motion_planning/random_movement_test.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update utama_core/tests/motion_planning/multiple_robots_test.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update utama_core/tests/motion_planning/multiple_robots_test.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update utama_core/tests/motion_planning/strategies/multi_robot_navigation_strategy.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update utama_core/tests/motion_planning/strategies/random_movement_strategy.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update utama_core/tests/motion_planning/multiple_robots_test.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * copilot changes * removed unused imports * replace raw values * remove unused variables * Update utama_core/tests/motion_planning/strategies/simple_navigation_strategy.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * remove unused imports * some minor changes * refactor: remove print in when robot reach random target * feat: extract n_robots parameter and restore it to 6 * refactor: added typing for dict variable * test: exclude motion planning tests for now until the algos work * doc: changed test function name and doc string to better describe the mirror swap test * doc: add description for n_robots variable * test: removed custom control scheme in tests so it uses the default scheme in strategy runner * test: combine f string in assertion * test: remove unused variable in random movement strategy * test: add type annotation to test manager variable in random movement strategy * Update utama_core/tests/motion_planning/strategies/random_movement_strategy.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * test: use snake case for variable name Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * test: change variables to snake case * doc: update random movement test description to say correct number of robots * test: resolve copilot PR comments * final cleanup * more minor stuff --------- Co-authored-by: Jawad <jawad.olavian@gmail.com> Co-authored-by: valentinbruehl <bruehl.valentin@outlook.de> Co-authored-by: Joel <42647510+energy-in-joles@users.noreply.github.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Joel <nzmjoel@gmail.com>
* add motion planning flags * revert pid to be default * reset default * oops it didn't save
Added a brief description of the project.
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Pulling the test cases created in dwa-new into fastpathplanning so we can test the fast path planning motion controller.