Demo improvements

[nathan-miller23]

Miscellaneous design improvements and compatibility updates

Updated html

• Instructions now reflect the new MDP dynamics and new graphics
• Tutorial now directly accessible from the main page
• A psiturk flag is now passed into the html template at runtime to create different html text
  • For example, when accessing the site directly, a game crash directly returns you to main page
  • When accessed with ?psiturk=true cookie, a game crash results in text being displayed about how the HIT has now ended and how the user will be compensated, and the window is closed

Removed Legacy Code

• Removed all references to deprecated JS-style overcooked
• Created separate legacy branch with all legacy code
• Updated README to include reference to this legacy branch

Overcooked Stable Release Compatibility

• all mlp references upgrades to appropriate mlam calls
• all potential function and state featurization signatures were updated

PsiTurk

• Created separate OvercookedPsiturk subclass to independently handle all psiturk edgecases and data collection, rather than cramming it all into one mega OvercookedGame class
• Layout order for psiturk experiment can now optionally be shuffled
• Unique psiturk-id is created for each human-human trial pair for easier data post-processing
• HTML was updated to switch between psiturk and non-psiturk wording (see above)
• JS was updated to better report errors to window.top (the overcooked-interactive-exp client)
• Human data schema was updated for post-processing ease
  • trial_id was added (uses psiturk_uid and timestamp) for easier by-game grouping
  • Extraneous fields such as is_leader were removed

Backend Improvements

• No longer load entire MLAM, only load MotionPlanner for faster game instantiation
• Now differentiate between "human_players", "npc_players", and "spectators"
  • Allows for human spectators of AI-AI rollouts in the GUI
  • Fixed bug where creating a human-AI game and then leaving prevented game being garbage collected (since it still had an "active_player" it was viewed as an active game, even though that player was an NPC)
• Added user-level serialization
  • Created global thread safe dictionary mapping user-ids (generated by socketio, unique for each socket connection) to locks
  • Fixed several non-deterministic errors (i.e. Heisen-bugs) where user rapidly performing two game-state updates (i.e. join then immediately leave) would result in race conditions
• Prevented adversarial double clicks on the JS client side
  • Each click temporarily disables button until next server side event is received, so user can't rapidly click "join" or something
  • This could still be changed by a truly adversarial user (if they wanted to inspect element and remove this change, they could), hence the need for user-level serialization
• Fixed bug where creating an idle game then leaving before match was found would not result in game garbage collection
• Prevented busy pinging while waiting
  • Before, every user in a 'waiting' state would repeatedly ping the server, trying to join a new game
  • Now server notifies client only once, when game is ready

[nathan-miller23]

Mainly a laundry list of minor backend, frontend, and compatibility changes. Tried to give an exhaustive list of everything I added. After this merge, the master branch of this repo, overcooked-ai, and human_aware_rl will all be inter-compatible

[mesutyang97]

Looks good! Thanks for all the hard-work to get this repo compatible with the rest of the repos!!