POMDPPlanners.tests.test_environments.test_push_pomdp package

Tests for Push POMDP environments.

This package contains test modules for the Push POMDP environments: - test_push_pomdp.py: Discrete Push POMDP environment tests - test_continuous_push_pomdp.py: Continuous Push POMDP environment tests - test_continuous_push_geometry.py: Continuous Push geometry utility tests - test_push_pomdp_beliefs/: Belief factory and vectorized updater tests

Subpackages

• POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_pomdp_beliefs package
  • Submodules
  • POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_pomdp_beliefs.test_continuous_push_belief_factory module
  • POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_pomdp_beliefs.test_continuous_push_vectorized_updater module
    • TestBeliefEquivalenceWithBaseline
      • TestBeliefEquivalenceWithBaseline.setup_method()
      • TestBeliefEquivalenceWithBaseline.test_sample_distributions_match_post_update()
      • TestBeliefEquivalenceWithBaseline.test_update_particles_match()
      • TestBeliefEquivalenceWithBaseline.test_update_weights_match()
    • TestContinuousPushVectorizedUpdater
      • TestContinuousPushVectorizedUpdater.setup_method()
      • TestContinuousPushVectorizedUpdater.test_batch_obs_log_likelihood_matches_per_particle_loop()
      • TestContinuousPushVectorizedUpdater.test_batch_observation_log_likelihood_shape()
      • TestContinuousPushVectorizedUpdater.test_batch_transition_matches_per_particle_loop()
      • TestContinuousPushVectorizedUpdater.test_batch_transition_shape()
      • TestContinuousPushVectorizedUpdater.test_batch_transition_target_preserved()
      • TestContinuousPushVectorizedUpdater.test_batch_transition_with_string_action()
      • TestContinuousPushVectorizedUpdater.test_config_id_deterministic()
      • TestContinuousPushVectorizedUpdater.test_from_environment_discrete()
      • TestContinuousPushVectorizedUpdater.test_log_likelihood_finite()
  • POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_pomdp_beliefs.test_push_belief_factory module
  • POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_pomdp_beliefs.test_push_vectorized_updater module

Submodules

POMDPPlanners.tests.test_environments.test_push_pomdp.test_continuous_push_geometry module

Tests for Continuous Push POMDP geometry utilities.

This module tests circle-AABB overlap, point-inside-AABB, collision resolution, and grid clamping functions, including their batch variants.

class POMDPPlanners.tests.test_environments.test_push_pomdp.test_continuous_push_geometry.TestContinuousPushGeometry

Bases: object

Test circle-AABB and point-AABB geometry utilities.

setup_method()

Set up shared test fixtures.

test_batch_clamp_circle_to_grid_shapes()

Test batch circle grid clamping output shape.

Purpose: Validates output shape of batch circle clamping.

Given: 10 random positions. When: batch_clamp_circle_to_grid is called. Then: Output shape matches (10, 2) and values are in range.

Test type: unit

test_batch_clamp_point_to_grid()

Test batch point grid clamping.

Purpose: Validates batch point clamping bounds.

Given: Points at (-1, 20) and (5, 5). When: batch_clamp_point_to_grid is called with grid_size=10. Then: First is clamped to (0, 9), second unchanged.

Test type: unit

test_batch_point_inside_aabb()

Test batch point-inside-AABB detection.

Purpose: Validates batch point-inside-AABB returns correct booleans.

Given: Points at (5, 5) inside and (0, 0) outside the AABB. When: batch_point_inside_aabb is called. Then: First is True, second is False.

Test type: unit

test_batch_resolve_circle_wall_collision_shapes()

Test batch circle-wall collision resolution output shape.

Purpose: Validates output shape of batch collision resolution.

Given: 10 random positions with radius 0.5 and one wall. When: batch_resolve_circle_wall_collision is called. Then: Output shape matches input shape (10, 2).

Test type: unit

test_circle_aabb_overlap_false()

Test that non-overlapping circle-AABB returns False.

Purpose: Validates that distant circles are not detected as overlapping.

Given: A circle centered at (1.0, 1.0) with radius 0.3 and an AABB

centered at (5, 5) with half-extent 1.

When: circle_aabb_overlap is called. Then: Returns False.

Test type: unit

test_circle_aabb_overlap_true()

Test that overlapping circle-AABB returns True.

Purpose: Validates circle-AABB overlap detection.

Given: A circle centered at (3.5, 5.0) with radius 1.0 and

an AABB centered at (5, 5) with half-extent 1.

When: circle_aabb_overlap is called. Then: Returns True because the circle reaches into the AABB.

Test type: unit

test_clamp_circle_to_grid()

Test that circle clamping keeps circle within grid.

Purpose: Validates grid clamping for circles.

Given: A circle centered at (-1, 12) with radius 0.3 on a grid of size 10. When: clamp_circle_to_grid is called. Then: Center is clamped to [radius, grid_size - 1 - radius].

Test type: unit

test_clamp_point_to_grid()

Test that point clamping keeps point within [0, grid_size-1].

Purpose: Validates grid clamping for points.

Given: A point at (-2, 15) on a grid of size 10. When: clamp_point_to_grid is called. Then: Point is clamped to [0, 9].

Test type: unit

test_point_inside_aabb_false()

Test that a point outside an AABB is not detected.

Purpose: Validates point-outside-AABB.

Given: A point at (1.0, 1.0) outside the AABB [4, 6] x [4, 6]. When: point_inside_aabb is called. Then: Returns False.

Test type: unit

test_point_inside_aabb_true()

Test that a point inside an AABB is detected.

Purpose: Validates point-inside-AABB test.

Given: A point at (5.0, 5.0) inside the AABB [4, 6] x [4, 6]. When: point_inside_aabb is called. Then: Returns True.

Test type: unit

test_resolve_circle_wall_collision_no_walls()

Test collision resolution with no walls returns copy.

Purpose: Validates no-op when there are no walls.

Given: Empty walls array. When: resolve_circle_wall_collision is called. Then: Returns a copy of the original position.

Test type: unit

test_resolve_circle_wall_collision_pushes_out()

Test that collision resolution pushes circle away from AABB.

Purpose: Validates that an overlapping circle is pushed out.

Given: A circle centered at (4.5, 5.0) with radius 0.3 overlapping

the AABB [4, 6] x [4, 6].

When: resolve_circle_wall_collision is called. Then: The returned position moves the circle center away from

the original overlap.

Test type: unit

POMDPPlanners.tests.test_environments.test_push_pomdp.test_continuous_push_pomdp module

Tests for the Continuous Push POMDP environment.

This module tests the state transition model, observation model, environment, and discrete actions wrapper for the Continuous Push POMDP.

class POMDPPlanners.tests.test_environments.test_push_pomdp.test_continuous_push_pomdp.TestContinuousPushObservation

Bases: object

Test the continuous push observation model.

setup_method()

Set up shared test fixtures.

test_object_position_noisy()

Test that object position observation includes noise.

Purpose: Validates that object position is noisy.

Given: Observation noise = 1.0 (large). When: Multiple samples are drawn. Then: Object position varies across samples.

Test type: unit

test_observation_shape()

Test that observation has shape (6,).

Purpose: Validates observation vector shape.

Given: A state with 6 elements. When: sample() is called. Then: Observation has shape (6,).

Test type: unit

test_probability_returns_positive()

Test that observation probability is positive for plausible observations.

Purpose: Validates probability calculation.

Given: An observation close to the true state. When: probability() is called. Then: Returns positive probability.

Test type: unit

test_robot_and_target_exact()

Test that robot and target positions are observed exactly.

Purpose: Validates that robot and target are noiseless in observations.

Given: State with known robot and target positions. When: sample() is called. Then: Observation indices 0:2 and 4:6 match state exactly.

Test type: unit

class POMDPPlanners.tests.test_environments.test_push_pomdp.test_continuous_push_pomdp.TestContinuousPushPOMDP

Bases: object

Test the ContinuousPushPOMDP environment.

setup_method()

Set up shared test fixtures.

test_compute_metrics()

Test compute_metrics returns expected metric names.

Purpose: Validates metric computation.

Given: A short simulated history. When: compute_metrics is called. Then: Returns list of MetricValue with correct names.

Test type: integration

test_config_id_deterministic()

Test that two identical environments have the same config_id.

Purpose: Validates deterministic config identification.

Given: Two environments with identical parameters. When: config_id is accessed. Then: Both return the same string.

Test type: unit

test_fixed_initial_state()

Test that fixed initial state works.

Purpose: Validates fixed initial state distribution.

Given: Environment with fixed initial_state. When: initial_state_dist().sample() is called. Then: Returns the fixed state.

Test type: unit

test_initial_state_shape()

Test that initial state has shape (6,).

Purpose: Validates initial state distribution.

Given: Environment with default settings. When: initial_state_dist().sample() is called. Then: Returns array of shape (6,).

Test type: unit

test_no_obstacles_environment()

Test environment works with no obstacles.

Purpose: Validates obstacle-free configuration.

Given: Environment with no obstacles. When: sample_next_step is called. Then: Works without error.

Test type: unit

test_not_terminal_far_from_target()

Test that is_terminal returns False when object is far from target.

Purpose: Validates non-terminal condition.

Given: Object far from target. When: is_terminal is called. Then: Returns False.

Test type: unit

test_obstacle_penalty_applied()

Test that obstacle collision incurs penalty.

Purpose: Validates obstacle penalty.

Given: Robot at position that will collide with obstacle after action. When: reward is called with action into obstacle. Then: Reward is lower than without collision.

Test type: unit

test_reward_batch_shape()

Test that reward_batch returns correct shape.

Purpose: Validates vectorized reward computation.

Given: 5 states and one action. When: reward_batch is called. Then: Returns array of shape (5,).

Test type: unit

test_reward_positive_at_goal()

Test that reward includes bonus when object reaches target.

Purpose: Validates goal reward bonus.

Given: Object very close to target. When: reward is called. Then: Reward is high (includes +100 bonus).

Test type: unit

test_sample_next_step()

Test that sample_next_step returns valid tuple.

Purpose: Validates full POMDP step.

Given: An initial state and continuous action. When: sample_next_step is called. Then: Returns (next_state, observation, reward).

Test type: unit

test_space_info_continuous()

Test that space info is continuous for both actions and observations.

Purpose: Validates SpaceInfo for continuous environment.

Given: A ContinuousPushPOMDP. When: space_info is accessed. Then: Both action and observation spaces are CONTINUOUS.

Test type: unit

test_terminal_at_target()

Test that is_terminal returns True when object is at target.

Purpose: Validates terminal condition.

Given: Object placed at target position. When: is_terminal is called. Then: Returns True.

Test type: unit

class POMDPPlanners.tests.test_environments.test_push_pomdp.test_continuous_push_pomdp.TestContinuousPushPOMDPDiscreteActions

Bases: object

Test the discrete-action wrapper.

setup_method()

Set up shared test fixtures.

test_action_mapping_directions()

Test that each action moves robot in expected direction.

Purpose: Validates action direction mapping.

Given: Robot at center, very low noise. When: Each directional action is taken. Then: Robot moves in the expected direction.

Test type: unit

test_actions_list()

Test that get_actions returns expected string actions.

Purpose: Validates discrete action set.

Given: A ContinuousPushPOMDPDiscreteActions environment. When: get_actions() is called. Then: Returns [“up”, “down”, “right”, “left”].

Test type: unit

test_sample_next_step_with_string_action()

Test that string actions work in sample_next_step.

Purpose: Validates string-to-vector action mapping.

Given: Initial state and “right” action. When: sample_next_step is called. Then: Returns valid (next_state, observation, reward).

Test type: unit

test_space_info_discrete_actions()

Test that action space is DISCRETE.

Purpose: Validates SpaceInfo override.

Given: A discrete-action environment. When: space_info is accessed. Then: action_space is DISCRETE, observation_space is CONTINUOUS.

Test type: unit

class POMDPPlanners.tests.test_environments.test_push_pomdp.test_continuous_push_pomdp.TestContinuousPushStateTransition

Bases: object

Test the continuous push state transition model.

setup_method()

Set up shared test fixtures.

test_friction_reduces_push()

Test that friction reduces push displacement.

Purpose: Validates friction effect on pushing.

Given: Friction = 0.5 vs friction = 0.0. When: Same action applied. Then: Higher friction produces smaller object displacement.

Test type: unit

test_grid_clamping()

Test that positions are clamped to grid.

Purpose: Validates grid boundary enforcement.

Given: Robot at (8.5, 8.5) with action pushing out of grid. When: sample() is called. Then: Robot stays within valid bounds.

Test type: unit

test_no_push_beyond_threshold()

Test that object is NOT pushed when robot is beyond threshold.

Purpose: Validates that push only occurs within threshold.

Given: Robot at (0, 0), object at (5, 5), threshold=1.0. When: Robot moves right. Then: Object position unchanged.

Test type: unit

test_obstacle_blocks_object_push()

Test that obstacles block object push.

Purpose: Validates that object stays put when pushed into obstacle.

Given: Object at (4.5, 5.0), obstacle AABB at (5, 5) half=0.5. When: Robot pushes object rightward into obstacle. Then: Object position unchanged.

Test type: unit

test_probability_returns_positive()

Test that probability returns positive densities.

Purpose: Validates probability method.

Given: A transition model and a plausible next state. When: probability() is called. Then: Returns a positive probability.

Test type: unit

test_push_force_capped()

Test that push force is capped at max_push.

Purpose: Validates capped push scaling.

Given: Large action (10, 0), max_push=2.0, friction=0.3. When: Push is applied to nearby object. Then: Push magnitude <= max_push * (1 - friction).

Test type: unit

test_push_within_threshold()

Test that object is pushed when robot is within threshold.

Purpose: Validates push mechanics.

Given: Robot at (2, 3), object at (2.5, 3.0), within threshold=1.0. When: Robot moves right with action (1, 0). Then: Object x increases in the action direction.

Test type: unit

test_robot_moves_in_action_direction()

Test that the robot moves approximately in the action direction.

Purpose: Validates that action vector translates to movement.

Given: Robot at (2, 3), action = (1, 0), small noise. When: sample() is called. Then: Robot x increases, y stays roughly constant.

Test type: unit

POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_pomdp module