Sheep training flock of 10

training/herding_env.py

@@ -30,7 +30,7 @@ class HerdingEnv(gym.Env):
     # -----------------------------------------------------------------------
     # World constants — must match Webots world file
     # -----------------------------------------------------------------------
-    MAX_SHEEP  = 5
+    MAX_SHEEP  = 10
     FIELD      = 15.0                         # half-size; positions ∈ [-FIELD, FIELD]
     PEN_X      = (10.0, 13.0)
     PEN_Y      = (-15.0, -8.0)
@@ -344,6 +344,14 @@ class HerdingEnv(gym.Env):
         if pos[1] < -F + m: fy += ((-F + m - pos[1]) / m) * 6.0
         if pos[1] >  F - m: fy -= ((pos[1] - (F - m)) / m) * 6.0
 
+        # Hard-stop clamp: mirrors sheep.py — zero any force driving further
+        # into the wall within 0.5 m so the flee force cannot pin the sheep.
+        HS = 0.5
+        if pos[0] < -F + HS and fx < 0: fx = 0.0
+        if pos[0] >  F - HS and fx > 0: fx = 0.0
+        if pos[1] < -F + HS and fy < 0: fy = 0.0
+        if pos[1] >  F - HS and fy > 0: fy = 0.0
+
         # Wander — suppressed while fleeing
         if not fleeing:
             if self.np_random.random() < 0.02: