Motion planning tests

[wowthecoder]

Added the following tests:
single_robot_static_obstacle_test.py

1. Go straight to the target without any obstacles
2. One obstacle in the middle
3. Three obstacles in a slanted line
4. Six obstacles in a pyramid shape

single_robot_moving_obstacle_test.py
5,6,7. Multiple obstacles oscillating horizontally or vertically between start and end positions

random_movement_test.py
8. 2 robots of the same team moving around randomly in a half court ( number of robots is variable and can be changed)

multiple_robots_test.py
9. 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

[Copilot]

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 StrategyRunner to 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

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[Copilot]

Copilot encountered an error and was unable to review this pull request. You can try again by re-requesting a review.

[Copilot]

Pull request overview

Copilot reviewed 9 out of 9 changed files in this pull request and generated 22 comments.

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[Copilot]

Pull request overview

Copilot reviewed 11 out of 11 changed files in this pull request and generated 4 comments.

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[Copilot]

Pull request overview

Copilot reviewed 11 out of 11 changed files in this pull request and generated 8 comments.

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[Copilot]

Pull request overview

Copilot reviewed 11 out of 11 changed files in this pull request and generated 9 comments.

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[Copilot]

Pull request overview

Copilot reviewed 11 out of 11 changed files in this pull request and generated 13 comments.

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[Copilot]

Pull request overview

Copilot reviewed 17 out of 17 changed files in this pull request and generated 23 comments.

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.