v = View() v.update_all(rstate, bstate) # Main simulation loop rstate = None iters = 0 start_time = time.time() for i in range(MAX_STEPS): iters += 1 reading = sim.read_sensors()[robot_id] p.update_belief(reading) p_act = p.get_action(reading) #p_act = action_seq[i] sim.add_action(p_act, robot_id) sim.update_turn() p.pred_step(p_act) # Check if at goal rstate = sim.get_state() rid = robot_params['id'] rx, ry, ro = rstate['robots'][rid].state [goalx, goaly] = sim_params['goal_pos'] goal_dist = np.sqrt((rx - goalx)**2 + (ry - goaly)**2) if goal_dist <= sim_params['goal_radius']: goal_dist = 0 break # Update View at the end of turn if GUI_ON: