# Reinitialize randomness after world generation
np.random.seed(None)
# Add a car model robot
init_state = [5,5,0]
sim.add_robot(robot_params,init_state)
# add a radar sensor
robot_id = robot_params['id']
sim.add_sensor(robot_id, sensor_params)
readings = sim.read_sensors()
# Initialize player model for control input
p = Player_vi(all_params, sim.get_occupied())
# Initialize View
if GUI_ON:
rstate = sim.get_state()
bstate = p.get_bstate()
v = View()
v.update_all(rstate, bstate)
# Main simulation loop
rstate = None
iters = 0
start_time = time.time()
