def handle_client_join(self, name, data):
pos = self.clientinfo.position
x, y, z = mvu.get_nearest_position(pos.x, pos.y, pos.z)
self.state.pos = Vector3(x, y, z)
facing = mvu.get_nearest_direction(pos.yaw)
self.state.dir = facing
logger.info("Initializing agent's internal state of motion")
def percept_to_relative(self, percept):
pos = self.clientinfo.position
pos_coords = mov.get_nearest_position(pos.x, pos.y, pos.z)
rel_percept = dict()
for xyz in percept:
rel_coords = tuple([p1 - p0 for p0, p1 in zip(pos_coords, xyz)])
rel_percept[rel_coords] = percept[xyz]
return rel_percept
def operator_move(self):
print("calling operator move")
# forward one unit/block, direction agent is facing
pos = self.clientinfo.position
facing = mvu.get_nearest_direction(pos.yaw)
x, y, z = mvu.get_nearest_position(pos.x, pos.y, pos.z)
x, y, z = move_deltas[facing](x, y, z)
self.movement.move_to(x, y, z)
def operator_break_obstacle(self):
print("calling operator break obstacle")
pos = copy.deepcopy(self.clientinfo.position)
facing = mvu.get_nearest_direction(pos.yaw)
x, y, z = mvu.get_nearest_position(pos.x, pos.y, pos.z)
target_block_coords = move_deltas[facing](x, y, z)
#print("target block integer coords: {}".format(target_block_coords))
target_block_center = tuple([cb + 0.5 for cb in target_block_coords])
#print("target block center coords: {}".format(target_block_center))
pos.yaw = facing
pos.pitch = 0.0
pos.x, pos.y, pos.z = target_block_coords
self.interact.dig_block(pos)
self.interact.look(yaw=facing, pitch=0.0)
def update_sensors(self):
pos = self.clientinfo.position
# discretize the absolute position and direction
x, y, z = mvu.get_nearest_position(pos.x, pos.y, pos.z)
cur_pos = Vector3(x, y, z)
cur_dir = mvu.get_nearest_direction(pos.yaw)
# update absolute state and current movement primitive
delta_pos = mvu.get_nearest_delta_pos(self.state.pos, cur_pos)
self.motion.delta_pos = motion_labels[delta_pos]
delta_dir = mvu.get_nearest_delta_dir(self.state.dir, cur_dir)
self.motion.delta_dir = motion_labels[delta_dir]
self.state.pos = cur_pos
self.state.dir = cur_dir
#print("delta pos: {}, delta dir: {}".format(delta_pos, delta_dir))
mvu.log_agent_motion(self.motion)
mvu.log_agent_state(self.state)
def handle_block_update(self, name, data):
# gold block spawned in world. call the planner
if data['block_data'] >> 4 == 41:
pos = self.clientinfo.position
self.state.agent['start_xyz'] = mvu.get_nearest_position(
pos.x, pos.y, pos.z)
self.state.agent['cur_xyz'] = self.state.agent['start_xyz']
self.state.agent['start_theta'] = mvu.get_nearest_direction(
pos.yaw)
self.state.agent['cur_theta'] = self.state.agent['start_theta']
block_pos = data['location']
# self.perceive()
# for block in self.visual_percept['blocks']:
# print([block," ",self.visual_percept['blocks'][block]])
# self.state.targets['gold']['location'] = (
# block_pos['x'],
# block_pos['y'],
# block_pos['z'])
self.continual_planner()
def handle_block_update(self, name, data):
# gold block spawned in world. call the planner
if data['block_data'] >> 4 == 41:
pos = self.clientinfo.position
self.state.start_loc = mvu.get_nearest_position(pos.x, pos.y, pos.z)
self.state.current_position = self.state.start_loc
self.state.current_orientation = mvu.get_nearest_direction(pos.yaw)
block_pos = data['location']
self.state.targets['gold']['location'] = (
block_pos['x'],
block_pos['y'],
block_pos['z'])
self.solve()
if self.room_plan is not None and len(self.room_plan) > 0:
logger.info("plan succeeded")
logger.info("total room plan: {}".format(self.room_plan))
self.event.emit("agent_planning_complete")
self.plan_idx = 0
else:
logger.info("plan failed")
self.event.emit("agent_planning_failed")
def perceive(self):
pos = self.clientinfo.position
x, y, z = mvu.get_nearest_position(pos.x, pos.y, pos.z)
orientation = mvu.get_nearest_direction(pos.yaw)
self.request_visual_percept(x, z, orientation)
def update_pose(self, pose):
self.pos = mov.get_nearest_position(pose['x'], pose['y'], pose['z'])
self.dir = mov.get_nearest_direction(pose['yaw'])
def operator_move_reset(self):
# simply centers the agent and sets look direction to NORTH
pos = self.clientinfo.position
x, y, z = mvu.get_nearest_position(pos.x, pos.y, pos.z)
self.interact.look(yaw=DIR_NORTH, pitch=0.0)
self.movement.move_to(x, y, z)