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seek.py
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from __future__ import print_function
# -*- coding: utf-8 -
from builtins import range
import MalmoPython
import os
import random
import sys
import time
import json
import random
import re
import math
import uuid
import numpy as np
import tkinter as tk
from sklearn.preprocessing import normalize
from collections import namedtuple
EntityInfo = namedtuple('EntityInfo', 'x, y, z, name')
# Create one agent host for parsing:
agent_hosts = [MalmoPython.AgentHost()]
# Parse the command-line options:
agent_hosts[0].addOptionalFlag("debug,d", "Display debug information.")
agent_hosts[0].addOptionalIntArgument("agents,n", "Number of agents to use.", 2)
try:
agent_hosts[0].parse(sys.argv)
except RuntimeError as e:
print('ERROR:', e)
print(agent_hosts[0].getUsage())
exit(1)
if agent_hosts[0].receivedArgument("help"):
print(agent_hosts[0].getUsage())
exit(0)
DEBUG = agent_hosts[0].receivedArgument("debug")
NUM_AGENTS = agent_hosts[0].getIntArgument("agents")
agent_hosts += [MalmoPython.AgentHost() for x in range(1, NUM_AGENTS)]
# Set up debug output:
for ah in agent_hosts:
ah.setDebugOutput(DEBUG) # Turn client-pool connection messages on/off.
if sys.version_info[0] == 2:
sys.stdout = os.fdopen(sys.stdout.fileno(), 'w', 0) # flush print output immediately
else:
import functools
print = functools.partial(print, flush = True)
def safeStartMission(agent_host, mission, client_pool, mission_record, role, expId):
used_attempts = 0
max_attempts = 5
print("Calling startMission for role", role)
while True:
try:
# Attempt start:
agent_host.startMission(mission, client_pool, mission_record, role, expId)
break
except MalmoPython.MissionException as e:
errorCode = e.details.errorCode
if errorCode == MalmoPython.MissionErrorCode.MISSION_SERVER_WARMING_UP:
print("Server not quite ready yet - waiting...")
time.sleep(2)
elif errorCode == MalmoPython.MissionErrorCode.MISSION_INSUFFICIENT_CLIENTS_AVAILABLE:
print("Not enough available Minecraft instances running.")
used_attempts += 1
if used_attempts < max_attempts:
print("Will wait in case they are starting up.", max_attempts - used_attempts, "attempts left.")
time.sleep(2)
elif errorCode == MalmoPython.MissionErrorCode.MISSION_SERVER_NOT_FOUND:
print("Server not found - has the mission with role 0 been started yet?")
used_attempts += 1
if used_attempts < max_attempts:
print("Will wait and retry.", max_attempts - used_attempts, "attempts left.")
time.sleep(2)
else:
print("Other error:", e.message)
print("Waiting will not help here - bailing immediately.")
exit(1)
if used_attempts == max_attempts:
print("All chances used up - bailing now.")
exit(1)
print("startMission called okay.")
def safeWaitForStart(agent_hosts):
print("Waiting for the mission to start", end=' ')
start_flags = [False for a in agent_hosts]
start_time = time.time()
time_out = 120 # Allow a two minute timeout.
while not all(start_flags) and time.time() - start_time < time_out:
states = [a.peekWorldState() for a in agent_hosts]
start_flags = [w.has_mission_begun for w in states]
errors = [e for w in states for e in w.errors]
if len(errors) > 0:
print("Errors waiting for mission start:")
for e in errors:
print(e.text)
print("Bailing now.")
exit(1)
time.sleep(0.1)
print(".", end=' ')
if time.time() - start_time >= time_out:
print("Timed out while waiting for mission to start - bailing.")
exit(1)
print()
print("Mission has started.")
def getXML(x, y, z):
xml = '''<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<Mission xmlns="http://ProjectMalmo.microsoft.com" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<About>
<Summary>Simple chasing agent</Summary>
</About>
<ModSettings>
<MsPerTick>50</MsPerTick>
</ModSettings>
<ServerSection>
<ServerInitialConditions>
<Time>
<StartTime>12000</StartTime>
<AllowPassageOfTime>false</AllowPassageOfTime>
</Time>
<Weather>clear</Weather>
</ServerInitialConditions>
<ServerHandlers>
<FlatWorldGenerator destroyAfterUse="true" forceReset="true"/>
<DrawingDecorator>
<!-- Outer wall -->
<DrawCuboid x1="0" y1="4" z1="0" x2="30" y2="6" z2="40" type="brick_block"/>
<DrawCuboid x1="1" y1="4" z1="1" x2="29" y2="7" z2="39" type="air"/>
<!-- Observer spot -->
<DrawCuboid x1="0" y1="25" z1="0" x2="30" y2="25" z2="40" type="barrier"/>
<DrawBlock x="15" y="25" z="20" type="air"/>
<!-- 1 -->
<DrawCuboid x1="10" y1="4" z1="10" x2="20" y2="6" z2="15" type="brick_block"/>
<DrawCuboid x1="13" y1="4" z1="13" x2="17" y2="6" z2="15" type="air"/>
<!-- 2 -->
<DrawCuboid x1="1" y1="4" z1="10" x2="5" y2="6" z2="15" type="brick_block"/>
<DrawLine x1="5" y1="4" z1="15" x2="1" y2="4" z2="19" type="brick_block"/>
<DrawLine x1="5" y1="5" z1="15" x2="1" y2="5" z2="19" type="brick_block"/>
<DrawLine x1="5" y1="6" z1="15" x2="1" y2="6" z2="19" type="brick_block"/>
<DrawBlock x="1" y="6" z="16" type="brick_block"/>
<DrawBlock x="2" y="6" z="16" type="brick_block"/>
<DrawBlock x="1" y="6" z="17" type="brick_block"/>
<!-- 3 -->
<DrawCuboid x1="29" y1="4" z1="10" x2="25" y2="6" z2="15" type="brick_block"/>
<DrawLine x1="25" y1="4" z1="15" x2="29" y2="4" z2="19" type="brick_block"/>
<DrawLine x1="25" y1="5" z1="15" x2="29" y2="5" z2="19" type="brick_block"/>
<DrawLine x1="25" y1="6" z1="15" x2="29" y2="6" z2="19" type="brick_block"/>
<DrawBlock x="29" y="6" z="16" type="brick_block"/>
<DrawBlock x="28" y="6" z="16" type="brick_block"/>
<DrawBlock x="29" y="6" z="17" type="brick_block"/>
<!-- 4 -->
<DrawCuboid x1="20" y1="4" z1="20" x2="18" y2="6" z2="35" type="brick_block"/>
<DrawLine x1="20" y1="4" z1="20" x2="25" y2="4" z2="25" type="brick_block"/>
<DrawLine x1="20" y1="5" z1="20" x2="25" y2="5" z2="25" type="brick_block"/>
<DrawLine x1="20" y1="6" z1="20" x2="25" y2="6" z2="25" type="brick_block"/>
<DrawLine x1="25" y1="4" z1="25" x2="20" y2="4" z2="25" type="brick_block"/>
<DrawLine x1="25" y1="5" z1="25" x2="20" y2="5" z2="25" type="brick_block"/>
<DrawLine x1="25" y1="6" z1="25" x2="20" y2="6" z2="25" type="brick_block"/>
<DrawLine x1="25" y1="6" z1="24" x2="20" y2="6" z2="24" type="brick_block"/>
<DrawLine x1="24" y1="6" z1="23" x2="20" y2="6" z2="23" type="brick_block"/>
<DrawBlock x="21" y="6" z="22" type="brick_block"/>
<!-- 5 -->
<DrawCuboid x1="10" y1="4" z1="20" x2="12" y2="6" z2="30" type="brick_block"/>
<DrawLine x1="10" y1="4" z1="20" x2="5" y2="4" z2="25" type="brick_block"/>
<DrawLine x1="10" y1="5" z1="20" x2="5" y2="5" z2="25" type="brick_block"/>
<DrawLine x1="10" y1="6" z1="20" x2="5" y2="6" z2="25" type="brick_block"/>
<DrawLine x1="5" y1="4" z1="25" x2="10" y2="4" z2="25" type="brick_block"/>
<DrawLine x1="5" y1="5" z1="25" x2="10" y2="5" z2="25" type="brick_block"/>
<DrawLine x1="5" y1="6" z1="25" x2="10" y2="6" z2="25" type="brick_block"/>
<DrawLine x1="5" y1="6" z1="24" x2="10" y2="6" z2="24" type="brick_block"/>
<DrawLine x1="6" y1="6" z1="23" x2="10" y2="6" z2="23" type="brick_block"/>
<DrawBlock x="9" y="6" z="22" type="brick_block"/>
<!-- 6 -->
<DrawCuboid x1="29" y1="4" z1="30" x2="25" y2="6" z2="35" type="brick_block"/>
<!-- 7 -->
<DrawCuboid x1="13" y1="4" z1="35" x2="13" y2="6" z2="40" type="brick_block"/>
<DrawCuboid x1="13" y1="4" z1="35" x2="5" y2="6" z2="35" type="brick_block"/>
<DrawCuboid x1="5" y1="4" z1="30" x2="1" y2="6" z2="30" type="brick_block"/>
<DrawBlock x="15" y="3" z="1" type="diamond_block"/>
<!-- A --> <DrawBlock x="8" y="3" z="8" type="gold_block"/>
<!-- B --> <DrawBlock x="22" y="3" z="8" type="gold_block"/>
<!-- C --> <DrawBlock x="15" y="3" z="13" type="gold_block"/>
<!-- D --> <DrawBlock x="7" y="3" z="18" type="gold_block"/>
<!-- E --> <DrawBlock x="15" y="3" z="18" type="gold_block"/>
<!-- F --> <DrawBlock x="23" y="3" z="18" type="gold_block"/>
<!-- G --> <DrawBlock x="28" y="3" z="25" type="gold_block"/>
<!-- H --> <DrawBlock x="23" y="3" z="28" type="gold_block"/>
<!-- I --> <DrawBlock x="7" y="3" z="28" type="gold_block"/>
<!-- J --> <DrawBlock x="2" y="3" z="25" type="gold_block"/>
<!-- K --> <DrawBlock x="15" y="3" z="32" type="gold_block"/>
<!-- L --> <DrawBlock x="7" y="3" z="32" type="gold_block"/>
<!-- M --> <DrawBlock x="28" y="3" z="38" type="gold_block"/>
<!-- N --> <DrawBlock x="23" y="3" z="38" type="gold_block"/>
<!-- O --> <DrawBlock x="18" y="3" z="38" type="gold_block"/>
<!-- P --> <DrawBlock x="8" y="3" z="38" type="gold_block"/>
<!-- Q --> <DrawBlock x="2" y="3" z="35" type="gold_block"/>
</DrawingDecorator>
<!--ServerQuitFromTimeUp description="DIDNT_CATCH" timeLimitMs="30000"/-->
<ServerQuitWhenAnyAgentFinishes/>
</ServerHandlers>
</ServerSection>
<!--AgentSection mode="Creative">
<Name>Observer</Name>
<AgentStart>
<Placement x="15.5" y="26" z="20" yaw="90" pitch="90"/>
</AgentStart>
<AgentHandlers>
<ObservationFromFullStats/>
<AbsoluteMovementCommands/>
<MissionQuitCommands/>
<VideoProducer>
<Width>896</Width>
<Height>640</Height>
</VideoProducer>
</AgentHandlers>
</AgentSection-->
<AgentSection mode="Survival">
<Name>Seeker</Name>
<AgentStart>
<Placement x="15.5" y="5.0" z="1.5" yaw="0"/>
<Inventory>
<InventoryItem slot="0" type="diamond_sword"/>
<InventoryItem slot="38" type="diamond_chestplate"/>
<InventoryItem slot="37" type="diamond_leggings"/>
<InventoryItem slot="36" type="diamond_boots"/>
</Inventory>
</AgentStart>
<AgentHandlers>
<ObservationFromFullStats/>
<ObservationFromNearbyEntities>
<Range name="entities" xrange="40" yrange="40" zrange="40"/>
</ObservationFromNearbyEntities>
<RewardForCollectingItem>
<Item type="diamond" reward="50"/>
</RewardForCollectingItem>
<AgentQuitFromCollectingItem>
<Item type="diamond" description="CATCH" />
</AgentQuitFromCollectingItem>
<ContinuousMovementCommands turnSpeedDegs="840"/>
<InventoryCommands/>
</AgentHandlers>
</AgentSection>
<AgentSection mode="Survival">
<Name>Runner</Name>
<AgentStart>
<Placement x="''' + str(x) + '''" y="5.0" z="''' + str(z) + '''" yaw="0"/>
<Inventory>
<InventoryItem slot="0" type="diamond"/>
</Inventory>
</AgentStart>
<AgentHandlers>
<ObservationFromFullStats/>
<ObservationFromNearbyEntities>
<Range name="entities" xrange="40" yrange="40" zrange="40"/>
</ObservationFromNearbyEntities>
<RewardForDiscardingItem>
<Item type="diamond" reward="-50"/>
</RewardForDiscardingItem>
<ContinuousMovementCommands turnSpeedDegs="840"/>
<InventoryCommands/>
</AgentHandlers>
</AgentSection>
</Mission>'''
return xml
def calcYawTo(fx, fy, fz, x, y, z):
dx = fx - x
dz = fz - z
return -180 * math.atan2(dx, dz) / math.pi
def distance(x1, y1, z1, x2, y2, z2):
return abs(x1 - x2) + abs(z1 - z2)
vgi = ['0', 'A', 'B', 'C', 'D', 'E', 'F', 'G', 'H',
'I', 'J', 'K', 'L', 'M', 'N', 'O', 'P', 'Q']
vg = {
'0': (15.5, 3, 1.5),
'A': (22.5, 3, 8.5),
'B': (8.5, 3, 8.5),
'C': (15.5, 3, 13.5),
'D': (23.5, 3, 18.5),
'E': (15.5, 3, 18.5),
'F': (7.5, 3, 18.5),
'G': (28.5, 3, 25.5),
'H': (23.5, 3, 28.5),
'I': (7.5, 3, 28.5),
'J': (2.5, 3, 25.5),
'K': (15.5, 3, 32.5),
'L': (7.5, 3, 32.5),
'M': (28.5, 3, 38.5),
'N': (23.5, 3, 38.5),
'O': (18.5, 3, 38.5),
'P': (8.5, 3, 38.5),
'Q': (2.5, 3, 35.5),
}
edges = {
'0': {'A', 'B'},
'A': {'0', 'B', 'D'},
'B': {'0', 'A', 'F'},
'C': {'E'},
'D': {'A', 'E', 'G'},
'E': {'C', 'D', 'F', 'K'},
'F': {'B', 'E', 'J'},
'G': {'D', 'H'},
'H': {'G', 'N'},
'I': {'J', 'L'},
'J': {'F', 'I'},
'K': {'E', 'L', 'O'},
'L': {'I', 'K', 'Q'},
'M': {'N'},
'N': {'H', 'M', 'O'},
'O': {'K', 'N'},
'P': {'Q'},
'Q': {'L', 'P'}
}
can_see = {
'0': {'0', 'A', 'B'},
'A': {'A', '0', 'B', 'D'},
'B': {'B', '0', 'A', 'F'},
'C': {'C', 'E', 'K'},
'D': {'D', 'A', 'E', 'G', 'F'},
'E': {'E', 'C', 'D', 'F', 'K'},
'F': {'F', 'B', 'E', 'J', 'D'},
'G': {'G', 'D', 'H'},
'H': {'H', 'G', 'N'},
'I': {'I', 'J', 'L'},
'J': {'J', 'F', 'I'},
'K': {'K', 'E', 'L', 'O', 'Q'},
'L': {'L', 'I', 'K', 'Q'},
'M': {'M', 'N', 'O'},
'N': {'N', 'H', 'M', 'O'},
'O': {'O', 'K', 'N', 'M'},
'P': {'P', 'Q'},
'Q': {'Q', 'L', 'P', 'K'}
}
dist_to_obj = np.array([
0,
distance(*vg['A'], *vg['0']),
distance(*vg['B'], *vg['0']),
distance(*vg['C'], *vg['0']),
distance(*vg['D'], *vg['0']),
distance(*vg['E'], *vg['0']),
distance(*vg['F'], *vg['0']),
distance(*vg['G'], *vg['0']),
distance(*vg['H'], *vg['0']),
distance(*vg['I'], *vg['0']),
distance(*vg['J'], *vg['0']),
distance(*vg['K'], *vg['0']),
distance(*vg['L'], *vg['0']),
distance(*vg['M'], *vg['0']),
distance(*vg['N'], *vg['0']),
distance(*vg['O'], *vg['0']),
distance(*vg['P'], *vg['0']),
distance(*vg['Q'], *vg['0']),
])
dist_to_obj /= sum(dist_to_obj)
# Set up a client pool
client_pool = MalmoPython.ClientPool()
for x in range(10000, 10000 + NUM_AGENTS):
client_pool.add(MalmoPython.ClientInfo('127.0.0.1', x))
runner_pos = random.choice(vgi[11:])
my_mission = MalmoPython.MissionSpec(getXML(*vg[runner_pos]), True)
my_mission_record = MalmoPython.MissionRecordSpec()
expID = str(uuid.uuid4())
for i in range(len(agent_hosts)):
agent_hosts[i].setRewardsPolicy(MalmoPython.RewardsPolicy.KEEP_ALL_REWARDS)
safeStartMission(agent_hosts[i], my_mission, client_pool, my_mission_record, i, expID)
safeWaitForStart(agent_hosts)
class HiddenMarkovModel:
def __init__(self, f0, T):
self.f = f0
self.T = T
def get(self):
return np.array(self.f.T)
def tick(self, O, dt = 1.0):
self.f = O * (dt * self.T.T) * self.f
self.f /= sum(self.f)
return np.array(self.f.T)
class Agent:
def __init__(self, agent_host, starting_pos = '0'):
self.agent_host = agent_host
self.current = starting_pos
self.going_to = starting_pos
self.speed = 1
self.seeing = set()
self.pos = (float("inf"), float("inf"), float("inf"))
f0 = np.matrix([1/18] * 18).T
T = np.matrix([[4.3 / distance(*vg[vgi[i]], *vg[vgi[j]])
if vgi[j] in edges[vgi[i]] else 0
for j in range(0, 18)]
for i in range(0, 18)]).clip(0, 1)
for i in range(0, 18):
T[i, i] = 1 - (T[i].sum() / len(edges[vgi[i]]))
T[i] = normalize(np.matrix(T[i]), norm='l1')[0]
self.hmm = HiddenMarkovModel(f0, T)
def update(self, obs):
self.pitch = obs['Pitch']
self.yaw = obs['Yaw']
self.pos = (obs['XPos'], obs['YPos'], obs['ZPos'])
self.life = obs['Life']
self.seeing = obs['Seeing']
def do(self, command):
self.agent_host.sendCommand(command)
def go_to(self, node):
self.going_to = node
def get_next(self, avoid = []):
return random.choice(list(edges[self.going_to]))
def loop(self):
if self.pitch < 0:
self.do("pitch 0")
yaw_to_next = calcYawTo(*vg[self.going_to], *self.pos)
# Find shortest angular distance between the two yaws, preserving sign:
deltaYaw = yaw_to_next - self.yaw
while deltaYaw < -180: deltaYaw += 360;
while deltaYaw > 180: deltaYaw -= 360;
deltaYaw /= 180.0;
# And turn:
self.do("turn " + str(deltaYaw))
dist = distance(*self.pos, *vg[self.going_to])
if dist > 1.8:
agent.sendCommand("move %g" % self.speed)
else:
agent.sendCommand("move 0")
self.current, self.going_to = self.going_to, self.choose()
class Seeker(Agent):
def tick(self, dt):
if 'Runner' in self.seeing:
O = normalize(np.matrix([4.3 / distance(*runner.pos, *vg[vgi[i]])
for i in range(0, 18)]), norm='l1')
O = np.diag(O[0])
else:
O = [1] * 18
neighbors_index = set(map(lambda x: vgi.index(x),
list(edges[self.current]) + [self.current]))
for i in neighbors_index:
O[i] = 0
O = np.diag(O)
self.hmm.tick(O, dt)
def choose(self, avoid = []):
agent_is_there = self.hmm.get()
guard_goal = dist_to_obj
utility = 0.9 * agent_is_there + 0.1 * guard_goal
neighbors_index = set(range(0, 18))
neighbors_index -= set(map(lambda x: vgi.index(x), list(edges[self.going_to])))
neighbors_index -= set([vgi.index(self.going_to)])
neighbors_index -= set(map(lambda x: vgi.index(x), avoid))
for i in neighbors_index:
utility[0, i] = 0
utility = list(normalize(utility, norm='l1')[0])
chosen = vgi[np.random.choice(range(0, 18), p = utility)]
return chosen
class Runner(Agent):
def tick(self, dt):
if 'Seeker' in self.seeing:
O = normalize(np.matrix([4.3 / distance(*seeker.pos, *vg[vgi[i]])
for i in range(0, 18)]), norm='l1')
O = np.diag(O[0])
else:
O = [1] * 18
neighbors_index = set(map(lambda x: vgi.index(x),
list(edges[self.current]) + [self.current]))
for i in neighbors_index:
O[i] = 0
O = np.diag(O)
self.hmm.tick(O, dt)
def choose(self, avoid = []):
agent_is_there = 1 - self.hmm.get()
chase_goal = 1 - dist_to_obj
utility = 0.9 * agent_is_there + 0.1 * chase_goal
neighbors_index = set(range(0, 18))
neighbors_index -= set(map(lambda x: vgi.index(x), list(edges[self.going_to])))
neighbors_index -= set([vgi.index(self.going_to)])
neighbors_index -= set(map(lambda x: vgi.index(x), avoid))
for i in neighbors_index:
utility[0, i] = 0
utility = list(normalize(utility, norm='l1')[0])
chosen = vgi[np.random.choice(range(0, 18), p = utility)]
return chosen
scale = 10
root = tk.Tk()
root.wm_title("Utilities")
canvas = tk.Canvas(root, width = 30 * scale, height = 40 * scale,
borderwidth = 0, highlightthickness = 0, bg = "white")
canvas.grid()
root.update()
def drawGraph(canvas, root, seeker, runner):
canvas.delete("all")
node_radius = 2
probabilities = np.log2(1 + normalize(seeker.hmm.get(), norm='l1')) * 255
for i, node in enumerate(vgi):
for j, neighbor in enumerate(vgi):
if neighbor in edges[node] and j < i:
canvas.create_line((30 - vg[node][0]) * scale, (40 - vg[node][2]) * scale,
(30 - vg[neighbor][0]) * scale, (40 - vg[neighbor][2]) * scale,
fill = 'black')
for i, node in enumerate(vgi):
color = int(probabilities[0, i])
fill = '#%02x%02x%02x' % (255, 255 - color, 255 - color)
outline = 'red' if node in (seeker.current, seeker.going_to) else 'black'
width = 2 if node in (seeker.current, seeker.going_to) else 1
canvas.create_oval((30 - vg[node][0] - node_radius / 2) * scale,
(40 - vg[node][2] - node_radius / 2) * scale,
(30 - vg[node][0] + node_radius / 2) * scale,
(40 - vg[node][2] + node_radius / 2) * scale,
outline = outline, fill = fill, width = width)
canvas.create_oval((30 - seeker.pos[0] - 1 / 2) * scale,
(40 - seeker.pos[2] - 1 / 2) * scale,
(30 - seeker.pos[0] + 1 / 2) * scale,
(40 - seeker.pos[2] + 1 / 2) * scale,
outline = 'blue', fill = 'blue')
canvas.create_oval((30 - runner.pos[0] - 1 / 2) * scale,
(40 - runner.pos[2] - 1 / 2) * scale,
(30 - runner.pos[0] + 1 / 2) * scale,
(40 - runner.pos[2] + 1 / 2) * scale,
outline = 'grey', fill = 'grey')
root.update()
time.sleep(1)
running = True
current_obs = [{} for x in range(NUM_AGENTS)]
unresponsive_count = [10 for x in range(NUM_AGENTS)]
num_responsive_agents = lambda: sum([urc > 0 for urc in unresponsive_count])
seeker = Seeker(agent_hosts[0], '0')
runner = Runner(agent_hosts[1], runner_pos)
timed_out = False
ai_timer = time.time()
yaw_to_mob = 0
try:
while num_responsive_agents() > 0 and not timed_out:
for i in range(NUM_AGENTS):
agent = agent_hosts[i]
world_state = agent.getWorldState()
if world_state.is_mission_running == False:
timed_out = True
elif world_state.number_of_observations_since_last_state > 0:
unresponsive_count[i] = 10
obvsText = world_state.observations[-1].text
data = json.loads(obvsText)
current_obs[i] = data
current_obs[i]['Seeing'] = set()
dt = time.time() - ai_timer
if dt > 0.1:
seeker.tick(dt)
runner.tick(dt)
ai_timer = time.time()
if agent == seeker.agent_host:
if runner.current in can_see[seeker.current]:
current_obs[i]['Seeing'].add('Runner')
seeker.update(current_obs[i])
seeker.loop()
elif agent == runner.agent_host:
if runner.current in can_see[seeker.current]:
current_obs[i]['Seeing'].add('Seeker')
runner.update(current_obs[i])
runner.loop()
drawGraph(canvas, root, seeker, runner)
if distance(*seeker.pos, *runner.pos) < 1:
print("Seeker wins!")
timed_out = True
if distance(*runner.pos, *vg['0']) < 1:
print("Runner wins!")
timed_out = True
except KeyboardInterrupt:
pass
# mission has ended.
print("Mission over")
reward = list(map(lambda r: r.getValue(), world_state.rewards))
print("Result: " + str(reward))
exit(0)