Quickstart

Quickstart#

If you would like to use the model for your own research, here is how you get started. To use the model from within Python, we first import the necessary packages:

import random

from momba import engine

from racetrack import model, tracks, svg

The racetrack package allows constructing models based on scenario descriptions. In the case of Racetrack, a scenario description specifies the track and other parameters such as the tank size or the underground (see Scenario). Here, we use the Barto-Big track:

tracks.BARTO_BIG
../../../_images/quickstart_1_0.svg

We construct a scenario by randomly selecting a start cell of that track:

start_cell = random.choice(list(tracks.BARTO_BIG.start_cells))
scenario = model.Scenario(tracks.BARTO_BIG, start_cell, underground=model.Underground.SAND)
scenario

Scenario(track=Track(width=30, height=33, blank_cells=frozenset({Coordinate(x=26, y=21), Coordinate(x=18, y=17), Coordinate(x=26, y=30), Coordinate(x=19, y=9), Coordinate(x=11, y=5), Coordinate(x=19, y=18), Coordinate(x=11, y=14), Coordinate(x=0, y=23), Coordinate(x=25, y=25), Coordinate(x=4, y=2), Coordinate(x=22, y=10), Coordinate(x=3, y=6), Coordinate(x=22, y=19), Coordinate(x=3, y=15), Coordinate(x=14, y=15), Coordinate(x=3, y=24), Coordinate(x=15, y=7), Coordinate(x=7, y=3), Coordinate(x=18, y=3), Coordinate(x=15, y=16), Coordinate(x=18, y=12), Coordinate(x=26, y=25), Coordinate(x=29, y=27), Coordinate(x=8, y=4), Coordinate(x=19, y=4), Coordinate(x=11, y=0), Coordinate(x=25, y=20), Coordinate(x=2, y=27), Coordinate(x=25, y=29), Coordinate(x=22, y=5), Coordinate(x=14, y=1), Coordinate(x=22, y=14), Coordinate(x=3, y=10), Coordinate(x=14, y=10), Coordinate(x=3, y=19), Coordinate(x=14, y=19), Coordinate(x=3, y=28), Coordinate(x=15, y=2), Coordinate(x=15, y=11), Coordinate(x=7, y=7), Coordinate(x=18, y=7), Coordinate(x=26, y=20), Coordinate(x=18, y=16), Coordinate(x=29, y=22), Coordinate(x=21, y=18), Coordinate(x=29, y=31), Coordinate(x=11, y=4), Coordinate(x=25, y=6), Coordinate(x=10, y=17), Coordinate(x=2, y=13), Coordinate(x=2, y=22), Coordinate(x=25, y=24), Coordinate(x=2, y=31), Coordinate(x=22, y=9), Coordinate(x=3, y=5), Coordinate(x=14, y=5), Coordinate(x=22, y=18), Coordinate(x=3, y=14), Coordinate(x=14, y=14), Coordinate(x=3, y=23), Coordinate(x=15, y=6), Coordinate(x=28, y=25), Coordinate(x=7, y=2), Coordinate(x=18, y=2), Coordinate(x=18, y=11), Coordinate(x=6, y=15), Coordinate(x=29, y=26), Coordinate(x=10, y=3), Coordinate(x=2, y=8), Coordinate(x=2, y=17), Coordinate(x=25, y=19), Coordinate(x=2, y=26), Coordinate(x=25, y=28), Coordinate(x=22, y=4), Coordinate(x=14, y=0), Coordinate(x=3, y=9), Coordinate(x=14, y=9), Coordinate(x=3, y=18), Coordinate(x=14, y=18), Coordinate(x=17, y=20), Coordinate(x=28, y=20), Coordinate(x=5, y=27), Coordinate(x=28, y=29), Coordinate(x=6, y=10), Coordinate(x=21, y=8), Coordinate(x=29, y=21), Coordinate(x=21, y=17), Coordinate(x=29, y=30), Coordinate(x=2, y=3), Coordinate(x=25, y=5), Coordinate(x=10, y=16), Coordinate(x=2, y=12), Coordinate(x=2, y=21), Coordinate(x=2, y=30), Coordinate(x=22, y=8), Coordinate(x=24, y=27), Coordinate(x=3, y=4), Coordinate(x=14, y=4), Coordinate(x=17, y=6), Coordinate(x=17, y=15), Coordinate(x=5, y=22), Coordinate(x=28, y=24), Coordinate(x=5, y=31), Coordinate(x=6, y=5), Coordinate(x=21, y=3), Coordinate(x=6, y=14), Coordinate(x=29, y=25), Coordinate(x=10, y=2), Coordinate(x=2, y=7), Coordinate(x=2, y=16), Coordinate(x=13, y=13), Coordinate(x=24, y=22), Coordinate(x=16, y=18), Coordinate(x=1, y=29), Coordinate(x=24, y=31), Coordinate(x=17, y=1), Coordinate(x=5, y=8), Coordinate(x=17, y=10), Coordinate(x=9, y=6), Coordinate(x=5, y=17), Coordinate(x=17, y=19), Coordinate(x=28, y=19), Coordinate(x=5, y=26), Coordinate(x=28, y=28), Coordinate(x=6, y=9), Coordinate(x=21, y=7), Coordinate(x=21, y=16), Coordinate(x=20, y=20), Coordinate(x=10, y=6), Coordinate(x=23, y=25), Coordinate(x=2, y=2), Coordinate(x=2, y=11), Coordinate(x=4, y=30), Coordinate(x=24, y=8), Coordinate(x=1, y=15), Coordinate(x=13, y=17), Coordinate(x=24, y=17), Coordinate(x=16, y=13), Coordinate(x=1, y=24), Coordinate(x=24, y=26), Coordinate(x=5, y=3), Coordinate(x=17, y=5), Coordinate(x=9, y=1), Coordinate(x=5, y=12), Coordinate(x=17, y=14), Coordinate(x=5, y=21), Coordinate(x=28, y=23), Coordinate(x=5, y=30), Coordinate(x=6, y=4), Coordinate(x=21, y=2), Coordinate(x=6, y=13), Coordinate(x=20, y=15), Coordinate(x=12, y=20), Coordinate(x=23, y=20), Coordinate(x=23, y=29), Coordinate(x=4, y=25), Coordinate(x=13, y=3), Coordinate(x=24, y=3), Coordinate(x=13, y=12), Coordinate(x=16, y=8), Coordinate(x=1, y=19), Coordinate(x=24, y=21), Coordinate(x=16, y=17), Coordinate(x=1, y=28), Coordinate(x=24, y=30), Coordinate(x=5, y=7), Coordinate(x=17, y=9), Coordinate(x=9, y=5), Coordinate(x=5, y=16), Coordinate(x=5, y=25), Coordinate(x=27, y=22), Coordinate(x=27, y=31), Coordinate(x=20, y=10), Coordinate(x=23, y=6), Coordinate(x=20, y=19), Coordinate(x=12, y=15), Coordinate(x=23, y=15), Coordinate(x=4, y=11), Coordinate(x=23, y=24), Coordinate(x=4, y=20), Coordinate(x=4, y=29), Coordinate(x=24, y=7), Coordinate(x=16, y=3), Coordinate(x=1, y=14), Coordinate(x=13, y=16), Coordinate(x=24, y=16), Coordinate(x=16, y=12), Coordinate(x=1, y=23), Coordinate(x=24, y=25), Coordinate(x=5, y=2), Coordinate(x=17, y=4), Coordinate(x=5, y=11), Coordinate(x=27, y=26), Coordinate(x=11, y=18), Coordinate(x=0, y=27), Coordinate(x=20, y=5), Coordinate(x=12, y=1), Coordinate(x=20, y=14), Coordinate(x=12, y=10), Coordinate(x=4, y=6), Coordinate(x=12, y=19), Coordinate(x=23, y=19), Coordinate(x=4, y=15), Coordinate(x=23, y=28), Coordinate(x=4, y=24), Coordinate(x=13, y=2), Coordinate(x=13, y=11), Coordinate(x=16, y=7), Coordinate(x=1, y=18), Coordinate(x=16, y=16), Coordinate(x=15, y=20), Coordinate(x=26, y=29), Coordinate(x=5, y=6), Coordinate(x=8, y=8), Coordinate(x=19, y=8), Coordinate(x=27, y=21), Coordinate(x=19, y=17), Coordinate(x=27, y=30), Coordinate(x=11, y=13), Coordinate(x=0, y=22), Coordinate(x=0, y=31), Coordinate(x=20, y=9), Coordinate(x=12, y=5), Coordinate(x=23, y=5), Coordinate(x=20, y=18), Coordinate(x=12, y=14), Coordinate(x=23, y=14), Coordinate(x=4, y=10), Coordinate(x=23, y=23), Coordinate(x=4, y=19), Coordinate(x=4, y=28), Coordinate(x=24, y=6), Coordinate(x=16, y=2), Coordinate(x=1, y=13), Coordinate(x=15, y=15), Coordinate(x=26, y=24), Coordinate(x=18, y=20), Coordinate(x=8, y=3), Coordinate(x=19, y=3), Coordinate(x=27, y=25), Coordinate(x=11, y=17), Coordinate(x=0, y=26), Coordinate(x=20, y=4), Coordinate(x=12, y=0), Coordinate(x=23, y=9), Coordinate(x=4, y=5), Coordinate(x=23, y=18), Coordinate(x=4, y=14), Coordinate(x=3, y=27), Coordinate(x=15, y=1), Coordinate(x=15, y=10), Coordinate(x=7, y=6), Coordinate(x=18, y=6), Coordinate(x=15, y=19), Coordinate(x=26, y=19), Coordinate(x=18, y=15), Coordinate(x=26, y=28), Coordinate(x=8, y=7), Coordinate(x=19, y=7), Coordinate(x=27, y=20), Coordinate(x=11, y=3), Coordinate(x=19, y=16), Coordinate(x=11, y=12), Coordinate(x=12, y=4), Coordinate(x=23, y=4), Coordinate(x=25, y=23), Coordinate(x=4, y=9), Coordinate(x=22, y=17), Coordinate(x=3, y=13), Coordinate(x=14, y=13), Coordinate(x=3, y=22), Coordinate(x=3, y=31), Coordinate(x=15, y=5), Coordinate(x=7, y=1), Coordinate(x=18, y=1), Coordinate(x=15, y=14), Coordinate(x=18, y=10), Coordinate(x=26, y=23), Coordinate(x=18, y=19), Coordinate(x=8, y=2), Coordinate(x=19, y=2), Coordinate(x=19, y=11), Coordinate(x=11, y=16), Coordinate(x=25, y=18), Coordinate(x=2, y=25), Coordinate(x=25, y=27), Coordinate(x=22, y=3), Coordinate(x=3, y=8), Coordinate(x=22, y=21), Coordinate(x=3, y=17), Coordinate(x=14, y=17), Coordinate(x=3, y=26), Coordinate(x=15, y=0), Coordinate(x=15, y=9), Coordinate(x=7, y=5), Coordinate(x=18, y=5), Coordinate(x=15, y=18), Coordinate(x=26, y=18), Coordinate(x=18, y=14), Coordinate(x=29, y=20), Coordinate(x=29, y=29), Coordinate(x=19, y=6), Coordinate(x=11, y=2), Coordinate(x=25, y=4), Coordinate(x=10, y=15), Coordinate(x=2, y=20), Coordinate(x=25, y=22), Coordinate(x=2, y=29), Coordinate(x=25, y=31), Coordinate(x=22, y=7), Coordinate(x=3, y=3), Coordinate(x=14, y=3), Coordinate(x=22, y=16), Coordinate(x=3, y=12), Coordinate(x=14, y=12), Coordinate(x=3, y=21), Coordinate(x=3, y=30), Coordinate(x=15, y=4), Coordinate(x=15, y=13), Coordinate(x=7, y=9), Coordinate(x=18, y=9), Coordinate(x=18, y=18), Coordinate(x=29, y=24), Coordinate(x=21, y=20), Coordinate(x=10, y=1), Coordinate(x=2, y=6), Coordinate(x=25, y=8), Coordinate(x=7, y=8), Coordinate(x=2, y=15), Coordinate(x=25, y=17), Coordinate(x=2, y=24), Coordinate(x=25, y=26), Coordinate(x=22, y=2), Coordinate(x=3, y=7), Coordinate(x=22, y=20), Coordinate(x=3, y=16), Coordinate(x=14, y=16), Coordinate(x=3, y=25), Coordinate(x=17, y=18), Coordinate(x=28, y=27), Coordinate(x=7, y=4), Coordinate(x=18, y=4), Coordinate(x=6, y=8), Coordinate(x=21, y=6), Coordinate(x=21, y=15), Coordinate(x=29, y=28), Coordinate(x=10, y=5), Coordinate(x=25, y=3), Coordinate(x=2, y=10), Coordinate(x=2, y=19), Coordinate(x=25, y=21), Coordinate(x=2, y=28), Coordinate(x=22, y=6), Coordinate(x=3, y=2), Coordinate(x=14, y=2), Coordinate(x=3, y=11), Coordinate(x=14, y=11), Coordinate(x=5, y=20), Coordinate(x=28, y=22), Coordinate(x=5, y=29), Coordinate(x=28, y=31), Coordinate(x=6, y=3), Coordinate(x=6, y=12), Coordinate(x=21, y=10), Coordinate(x=29, y=23), Coordinate(x=21, y=19), Coordinate(x=10, y=0), Coordinate(x=2, y=5), Coordinate(x=25, y=7), Coordinate(x=10, y=18), Coordinate(x=2, y=14), Coordinate(x=25, y=16), Coordinate(x=2, y=23), Coordinate(x=13, y=20), Coordinate(x=24, y=20), Coordinate(x=1, y=27), Coordinate(x=24, y=29), Coordinate(x=14, y=6), Coordinate(x=17, y=8), Coordinate(x=9, y=4), Coordinate(x=5, y=15), Coordinate(x=17, y=17), Coordinate(x=5, y=24), Coordinate(x=28, y=26), Coordinate(x=6, y=7), Coordinate(x=21, y=5), Coordinate(x=21, y=14), Coordinate(x=10, y=4), Coordinate(x=2, y=9), Coordinate(x=2, y=18), Coordinate(x=24, y=15), Coordinate(x=13, y=15), Coordinate(x=16, y=11), Coordinate(x=1, y=22), Coordinate(x=24, y=24), Coordinate(x=16, y=20), Coordinate(x=1, y=31), Coordinate(x=17, y=3), Coordinate(x=5, y=10), Coordinate(x=17, y=12), Coordinate(x=5, y=19), Coordinate(x=28, y=21), Coordinate(x=5, y=28), Coordinate(x=28, y=30), Coordinate(x=6, y=2), Coordinate(x=6, y=11), Coordinate(x=21, y=9), Coordinate(x=12, y=18), Coordinate(x=23, y=27), Coordinate(x=2, y=4), Coordinate(x=4, y=23), Coordinate(x=13, y=1), Coordinate(x=13, y=10), Coordinate(x=16, y=6), Coordinate(x=1, y=17), Coordinate(x=13, y=19), Coordinate(x=24, y=19), Coordinate(x=16, y=15), Coordinate(x=1, y=26), Coordinate(x=24, y=28), Coordinate(x=5, y=5), Coordinate(x=17, y=7), Coordinate(x=9, y=3), Coordinate(x=5, y=14), Coordinate(x=17, y=16), Coordinate(x=5, y=23), Coordinate(x=27, y=29), Coordinate(x=6, y=6), Coordinate(x=21, y=4), Coordinate(x=0, y=30), Coordinate(x=20, y=8), Coordinate(x=20, y=17), Coordinate(x=12, y=13), Coordinate(x=23, y=22), Coordinate(x=4, y=18), Coordinate(x=23, y=31), Coordinate(x=4, y=27), Coordinate(x=13, y=5), Coordinate(x=24, y=5), Coordinate(x=16, y=1), Coordinate(x=1, y=12), Coordinate(x=13, y=14), Coordinate(x=16, y=10), Coordinate(x=1, y=21), Coordinate(x=24, y=23), Coordinate(x=16, y=19), Coordinate(x=1, y=30), Coordinate(x=17, y=2), Coordinate(x=5, y=9), Coordinate(x=17, y=11), Coordinate(x=9, y=7), Coordinate(x=5, y=18), Coordinate(x=27, y=24), Coordinate(x=6, y=1), Coordinate(x=19, y=20), Coordinate(x=0, y=25), Coordinate(x=20, y=3), Coordinate(x=23, y=8), Coordinate(x=4, y=4), Coordinate(x=12, y=17), Coordinate(x=23, y=17), Coordinate(x=4, y=13), Coordinate(x=23, y=26), Coordinate(x=4, y=22), Coordinate(x=13, y=0), Coordinate(x=4, y=31), Coordinate(x=13, y=9), Coordinate(x=24, y=9), Coordinate(x=16, y=5), Coordinate(x=1, y=16), Coordinate(x=13, y=18), Coordinate(x=24, y=18), Coordinate(x=16, y=14), Coordinate(x=1, y=25), Coordinate(x=26, y=27), Coordinate(x=5, y=4), Coordinate(x=9, y=2), Coordinate(x=5, y=13), Coordinate(x=8, y=6), Coordinate(x=27, y=19), Coordinate(x=19, y=15), Coordinate(x=27, y=28), Coordinate(x=11, y=11), Coordinate(x=0, y=29), Coordinate(x=20, y=7), Coordinate(x=12, y=3), Coordinate(x=23, y=3), Coordinate(x=20, y=16), Coordinate(x=12, y=12), Coordinate(x=4, y=8), Coordinate(x=23, y=21), Coordinate(x=4, y=17), Coordinate(x=23, y=30), Coordinate(x=4, y=26), Coordinate(x=13, y=4), Coordinate(x=24, y=4), Coordinate(x=16, y=0), Coordinate(x=16, y=9), Coordinate(x=1, y=20), Coordinate(x=26, y=22), Coordinate(x=26, y=31), Coordinate(x=8, y=1), Coordinate(x=19, y=1), Coordinate(x=19, y=10), Coordinate(x=27, y=23), Coordinate(x=11, y=6), Coordinate(x=19, y=19), Coordinate(x=11, y=15), Coordinate(x=0, y=24), Coordinate(x=20, y=2), Coordinate(x=20, y=11), Coordinate(x=23, y=7), Coordinate(x=4, y=3), Coordinate(x=12, y=16), Coordinate(x=23, y=16), Coordinate(x=4, y=12), Coordinate(x=4, y=21), Coordinate(x=16, y=4), Coordinate(x=15, y=17), Coordinate(x=26, y=17), Coordinate(x=26, y=26), Coordinate(x=8, y=5), Coordinate(x=19, y=5), Coordinate(x=27, y=18), Coordinate(x=11, y=1), Coordinate(x=19, y=14), Coordinate(x=27, y=27), Coordinate(x=11, y=10), Coordinate(x=11, y=19), Coordinate(x=0, y=28), Coordinate(x=20, y=6), Coordinate(x=12, y=2), Coordinate(x=12, y=11), Coordinate(x=25, y=30), Coordinate(x=4, y=7), Coordinate(x=4, y=16), Coordinate(x=22, y=15), Coordinate(x=3, y=20), Coordinate(x=14, y=20), Coordinate(x=3, y=29), Coordinate(x=15, y=3), Coordinate(x=15, y=12), Coordinate(x=18, y=8)}), blocked_cells=frozenset({Coordinate(x=15, y=21), Coordinate(x=7, y=17), Coordinate(x=15, y=30), Coordinate(x=7, y=26), Coordinate(x=18, y=26), Coordinate(x=27, y=4), Coordinate(x=8, y=0), Coordinate(x=19, y=0), Coordinate(x=27, y=13), Coordinate(x=8, y=9), Coordinate(x=0, y=5), Coordinate(x=8, y=18), Coordinate(x=0, y=14), Coordinate(x=11, y=23), Coordinate(x=10, y=27), Coordinate(x=22, y=28), Coordinate(x=14, y=24), Coordinate(x=26, y=7), Coordinate(x=26, y=16), Coordinate(x=7, y=12), Coordinate(x=15, y=25), Coordinate(x=7, y=21), Coordinate(x=18, y=21), Coordinate(x=7, y=30), Coordinate(x=18, y=30), Coordinate(x=27, y=8), Coordinate(x=0, y=0), Coordinate(x=21, y=32), Coordinate(x=0, y=9), Coordinate(x=11, y=9), Coordinate(x=25, y=11), Coordinate(x=10, y=22), Coordinate(x=10, y=31), Coordinate(x=3, y=1), Coordinate(x=22, y=23), Coordinate(x=22, y=32), Coordinate(x=14, y=28), Coordinate(x=26, y=2), Coordinate(x=26, y=11), Coordinate(x=7, y=16), Coordinate(x=29, y=13), Coordinate(x=6, y=29), Coordinate(x=21, y=27), Coordinate(x=10, y=8), Coordinate(x=25, y=15), Coordinate(x=10, y=26), Coordinate(x=22, y=0), Coordinate(x=22, y=27), Coordinate(x=14, y=23), Coordinate(x=14, y=32), Coordinate(x=26, y=6), Coordinate(x=17, y=25), Coordinate(x=7, y=11), Coordinate(x=9, y=30), Coordinate(x=29, y=8), Coordinate(x=29, y=17), Coordinate(x=21, y=13), Coordinate(x=6, y=24), Coordinate(x=21, y=22), Coordinate(x=21, y=31), Coordinate(x=25, y=1), Coordinate(x=10, y=12), Coordinate(x=25, y=10), Coordinate(x=10, y=21), Coordinate(x=10, y=30), Coordinate(x=3, y=0), Coordinate(x=22, y=13), Coordinate(x=13, y=32), Coordinate(x=26, y=1), Coordinate(x=17, y=29), Coordinate(x=9, y=25), Coordinate(x=29, y=3), Coordinate(x=29, y=12), Coordinate(x=6, y=19), Coordinate(x=6, y=28), Coordinate(x=21, y=26), Coordinate(x=10, y=7), Coordinate(x=25, y=14), Coordinate(x=10, y=25), Coordinate(x=13, y=27), Coordinate(x=16, y=32), Coordinate(x=28, y=6), Coordinate(x=28, y=15), Coordinate(x=9, y=11), Coordinate(x=17, y=24), Coordinate(x=9, y=20), Coordinate(x=9, y=29), Coordinate(x=29, y=7), Coordinate(x=29, y=16), Coordinate(x=21, y=12), Coordinate(x=6, y=23), Coordinate(x=21, y=21), Coordinate(x=6, y=32), Coordinate(x=21, y=30), Coordinate(x=25, y=0), Coordinate(x=10, y=11), Coordinate(x=25, y=9), Coordinate(x=24, y=13), Coordinate(x=13, y=22), Coordinate(x=13, y=31), Coordinate(x=16, y=27), Coordinate(x=28, y=1), Coordinate(x=28, y=10), Coordinate(x=9, y=15), Coordinate(x=17, y=28), Coordinate(x=9, y=24), Coordinate(x=6, y=0), Coordinate(x=29, y=2), Coordinate(x=29, y=11), Coordinate(x=6, y=18), Coordinate(x=20, y=29), Coordinate(x=12, y=25), Coordinate(x=13, y=8), Coordinate(x=13, y=26), Coordinate(x=16, y=22), Coordinate(x=16, y=31), Coordinate(x=28, y=5), Coordinate(x=28, y=14), Coordinate(x=9, y=10), Coordinate(x=17, y=23), Coordinate(x=9, y=19), Coordinate(x=9, y=28), Coordinate(x=29, y=6), Coordinate(x=8, y=32), Coordinate(x=19, y=32), Coordinate(x=20, y=24), Coordinate(x=12, y=29), Coordinate(x=1, y=10), Coordinate(x=24, y=12), Coordinate(x=13, y=21), Coordinate(x=13, y=30), Coordinate(x=16, y=26), Coordinate(x=17, y=0), Coordinate(x=28, y=0), Coordinate(x=28, y=9), Coordinate(x=28, y=18), Coordinate(x=9, y=14), Coordinate(x=8, y=27), Coordinate(x=19, y=27), Coordinate(x=20, y=1), Coordinate(x=11, y=32), Coordinate(x=12, y=6), Coordinate(x=20, y=28), Coordinate(x=12, y=24), Coordinate(x=1, y=5), Coordinate(x=13, y=7), Coordinate(x=16, y=21), Coordinate(x=16, y=30), Coordinate(x=28, y=4), Coordinate(x=9, y=0), Coordinate(x=9, y=9), Coordinate(x=27, y=17), Coordinate(x=8, y=13), Coordinate(x=19, y=13), Coordinate(x=8, y=22), Coordinate(x=19, y=22), Coordinate(x=0, y=18), Coordinate(x=8, y=31), Coordinate(x=19, y=31), Coordinate(x=11, y=27), Coordinate(x=23, y=1), Coordinate(x=23, y=10), Coordinate(x=20, y=23), Coordinate(x=20, y=32), Coordinate(x=12, y=28), Coordinate(x=1, y=0), Coordinate(x=24, y=2), Coordinate(x=1, y=9), Coordinate(x=24, y=11), Coordinate(x=15, y=29), Coordinate(x=7, y=25), Coordinate(x=18, y=25), Coordinate(x=27, y=3), Coordinate(x=27, y=12), Coordinate(x=0, y=4), Coordinate(x=8, y=17), Coordinate(x=0, y=13), Coordinate(x=8, y=26), Coordinate(x=19, y=26), Coordinate(x=11, y=22), Coordinate(x=20, y=0), Coordinate(x=11, y=31), Coordinate(x=4, y=1), Coordinate(x=12, y=23), Coordinate(x=1, y=4), Coordinate(x=26, y=15), Coordinate(x=15, y=24), Coordinate(x=7, y=20), Coordinate(x=7, y=29), Coordinate(x=18, y=29), Coordinate(x=27, y=7), Coordinate(x=27, y=16), Coordinate(x=8, y=12), Coordinate(x=19, y=12), Coordinate(x=0, y=8), Coordinate(x=11, y=8), Coordinate(x=8, y=21), Coordinate(x=19, y=21), Coordinate(x=0, y=17), Coordinate(x=8, y=30), Coordinate(x=19, y=30), Coordinate(x=11, y=26), Coordinate(x=23, y=0), Coordinate(x=20, y=13), Coordinate(x=12, y=9), Coordinate(x=22, y=22), Coordinate(x=22, y=31), Coordinate(x=14, y=27), Coordinate(x=26, y=10), Coordinate(x=7, y=15), Coordinate(x=15, y=28), Coordinate(x=7, y=24), Coordinate(x=18, y=24), Coordinate(x=27, y=2), Coordinate(x=27, y=11), Coordinate(x=0, y=3), Coordinate(x=8, y=16), Coordinate(x=0, y=12), Coordinate(x=19, y=25), Coordinate(x=0, y=21), Coordinate(x=11, y=21), Coordinate(x=11, y=30), Coordinate(x=4, y=0), Coordinate(x=22, y=26), Coordinate(x=14, y=22), Coordinate(x=14, y=31), Coordinate(x=26, y=5), Coordinate(x=26, y=14), Coordinate(x=7, y=10), Coordinate(x=15, y=23), Coordinate(x=7, y=19), Coordinate(x=15, y=32), Coordinate(x=7, y=28), Coordinate(x=18, y=28), Coordinate(x=27, y=6), Coordinate(x=8, y=11), Coordinate(x=0, y=7), Coordinate(x=11, y=7), Coordinate(x=0, y=16), Coordinate(x=10, y=20), Coordinate(x=10, y=29), Coordinate(x=22, y=12), Coordinate(x=14, y=8), Coordinate(x=22, y=30), Coordinate(x=14, y=26), Coordinate(x=26, y=0), Coordinate(x=26, y=9), Coordinate(x=7, y=14), Coordinate(x=7, y=23), Coordinate(x=18, y=23), Coordinate(x=27, y=1), Coordinate(x=6, y=27), Coordinate(x=21, y=25), Coordinate(x=0, y=2), Coordinate(x=25, y=13), Coordinate(x=10, y=24), Coordinate(x=22, y=25), Coordinate(x=14, y=21), Coordinate(x=14, y=30), Coordinate(x=26, y=4), Coordinate(x=7, y=0), Coordinate(x=18, y=0), Coordinate(x=26, y=13), Coordinate(x=17, y=32), Coordinate(x=29, y=15), Coordinate(x=21, y=11), Coordinate(x=6, y=22), Coordinate(x=6, y=31), Coordinate(x=21, y=29), Coordinate(x=10, y=10), Coordinate(x=10, y=19), Coordinate(x=10, y=28), Coordinate(x=22, y=11), Coordinate(x=14, y=7), Coordinate(x=14, y=25), Coordinate(x=17, y=27), Coordinate(x=9, y=23), Coordinate(x=29, y=1), Coordinate(x=9, y=32), Coordinate(x=29, y=10), Coordinate(x=6, y=17), Coordinate(x=29, y=19), Coordinate(x=6, y=26), Coordinate(x=21, y=24), Coordinate(x=2, y=1), Coordinate(x=10, y=14), Coordinate(x=25, y=12), Coordinate(x=10, y=23), Coordinate(x=10, y=32), Coordinate(x=13, y=25), Coordinate(x=17, y=13), Coordinate(x=28, y=13), Coordinate(x=17, y=22), Coordinate(x=9, y=18), Coordinate(x=17, y=31), Coordinate(x=9, y=27), Coordinate(x=29, y=5), Coordinate(x=21, y=1), Coordinate(x=29, y=14), Coordinate(x=6, y=21), Coordinate(x=6, y=30), Coordinate(x=21, y=28), Coordinate(x=10, y=9), Coordinate(x=22, y=1), Coordinate(x=13, y=29), Coordinate(x=16, y=25), Coordinate(x=28, y=8), Coordinate(x=28, y=17), Coordinate(x=9, y=13), Coordinate(x=17, y=26), Coordinate(x=9, y=22), Coordinate(x=29, y=0), Coordinate(x=9, y=31), Coordinate(x=29, y=9), Coordinate(x=6, y=16), Coordinate(x=29, y=18), Coordinate(x=6, y=25), Coordinate(x=21, y=23), Coordinate(x=20, y=27), Coordinate(x=2, y=0), Coordinate(x=25, y=2), Coordinate(x=10, y=13), Coordinate(x=12, y=32), Coordinate(x=13, y=6), Coordinate(x=13, y=24), Coordinate(x=16, y=29), Coordinate(x=5, y=1), Coordinate(x=28, y=3), Coordinate(x=28, y=12), Coordinate(x=9, y=8), Coordinate(x=17, y=21), Coordinate(x=9, y=17), Coordinate(x=17, y=30), Coordinate(x=9, y=26), Coordinate(x=29, y=4), Coordinate(x=21, y=0), Coordinate(x=6, y=20), Coordinate(x=20, y=22), Coordinate(x=20, y=31), Coordinate(x=12, y=27), Coordinate(x=24, y=1), Coordinate(x=1, y=8), Coordinate(x=24, y=10), Coordinate(x=13, y=28), Coordinate(x=16, y=24), Coordinate(x=28, y=7), Coordinate(x=28, y=16), Coordinate(x=9, y=12), Coordinate(x=9, y=21), Coordinate(x=8, y=25), Coordinate(x=23, y=13), Coordinate(x=20, y=26), Coordinate(x=12, y=22), Coordinate(x=12, y=31), Coordinate(x=1, y=3), Coordinate(x=24, y=14), Coordinate(x=13, y=23), Coordinate(x=16, y=28), Coordinate(x=5, y=0), Coordinate(x=28, y=2), Coordinate(x=28, y=11), Coordinate(x=9, y=16), Coordinate(x=27, y=15), Coordinate(x=8, y=20), Coordinate(x=8, y=29), Coordinate(x=19, y=29), Coordinate(x=11, y=25), Coordinate(x=20, y=12), Coordinate(x=12, y=8), Coordinate(x=20, y=21), Coordinate(x=20, y=30), Coordinate(x=12, y=26), Coordinate(x=24, y=0), Coordinate(x=1, y=7), Coordinate(x=16, y=23), Coordinate(x=15, y=27), Coordinate(x=7, y=32), Coordinate(x=18, y=32), Coordinate(x=27, y=10), Coordinate(x=8, y=15), Coordinate(x=0, y=11), Coordinate(x=8, y=24), Coordinate(x=19, y=24), Coordinate(x=0, y=20), Coordinate(x=11, y=20), Coordinate(x=11, y=29), Coordinate(x=23, y=12), Coordinate(x=20, y=25), Coordinate(x=12, y=21), Coordinate(x=12, y=30), Coordinate(x=1, y=2), Coordinate(x=1, y=11), Coordinate(x=15, y=22), Coordinate(x=7, y=18), Coordinate(x=15, y=31), Coordinate(x=7, y=27), Coordinate(x=18, y=27), Coordinate(x=27, y=5), Coordinate(x=27, y=14), Coordinate(x=8, y=10), Coordinate(x=0, y=6), Coordinate(x=8, y=19), Coordinate(x=0, y=15), Coordinate(x=8, y=28), Coordinate(x=19, y=28), Coordinate(x=11, y=24), Coordinate(x=12, y=7), Coordinate(x=22, y=29), Coordinate(x=1, y=6), Coordinate(x=15, y=8), Coordinate(x=26, y=8), Coordinate(x=7, y=13), Coordinate(x=18, y=13), Coordinate(x=15, y=26), Coordinate(x=7, y=22), Coordinate(x=18, y=22), Coordinate(x=27, y=0), Coordinate(x=7, y=31), Coordinate(x=18, y=31), Coordinate(x=27, y=9), Coordinate(x=0, y=1), Coordinate(x=8, y=14), Coordinate(x=0, y=10), Coordinate(x=8, y=23), Coordinate(x=19, y=23), Coordinate(x=0, y=19), Coordinate(x=11, y=28), Coordinate(x=23, y=2), Coordinate(x=23, y=11), Coordinate(x=22, y=24), Coordinate(x=1, y=1), Coordinate(x=14, y=29), Coordinate(x=26, y=3), Coordinate(x=26, y=12)}), start_cells=frozenset({Coordinate(x=4, y=32), Coordinate(x=0, y=32), Coordinate(x=2, y=32), Coordinate(x=5, y=32), Coordinate(x=3, y=32), Coordinate(x=1, y=32)}), goal_cells=frozenset({Coordinate(x=25, y=32), Coordinate(x=28, y=32), Coordinate(x=23, y=32), Coordinate(x=26, y=32), Coordinate(x=29, y=32), Coordinate(x=24, y=32), Coordinate(x=27, y=32)})), start_cell=Coordinate(x=3, y=32), tank_type=<TankType.LARGE: 1>, underground=<Underground.SAND: (ArithmeticBinary(operator=<ArithmeticBinaryOperator.REAL_DIV: ('/', <function ArithmeticBinaryOperator.<lambda> at 0x7f8cbc6d3c10>)>, left=IntegerConstant(integer=5), right=IntegerConstant(integer=10)), <function Underground.<lambda> at 0x7f8cbc411d30>)>, max_speed=None, max_acceleration=1, fuel_model=<function fuel_model_regular at 0x7f8cbc423ee0>, compute_distances=False, random_start=False)

Based on the scenario description, we then build the actual model:

mdp = model.construct_model(scenario)
mdp

<momba.model.networks.Network at 0x7f8cbc3f1880>

As you can see, this gave us an automaton Network.

We can now export the network to JANI, run a model checker on it, or explore it with Momba’s state exploration engine—just to mention a few possibilities. To explore the model with Momba’s state space exploration engine, we construct an Explorer:

explorer = engine.Explorer.new_discrete_time(mdp)
explorer

<momba.engine.explore.Explorer at 0x7f8cbc76eb80>

We can now inspect the initial state and visualize it:

initial_state, = explorer.initial_states
initial_state.global_env

{'car_dx': Value(0),
 'car_dy': Value(0),
 'car_x': Value(3),
 'car_y': Value(32),
 'fuel': Value(1629)}

svg.format_track(
    tracks.BARTO_BIG,
    car=model.Coordinate(
        initial_state.global_env["car_x"].as_int,
        initial_state.global_env["car_y"].as_int,
    ),
)
../../../_images/quickstart_6_0.svg

For further details on what to do with the model, we refer to the user guide.