jalf/TIR_PROJ
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Sheep training flock of 10 fix?

Browse Source
This commit is contained in:
Johnny Fernandes
2026-04-24 17:49:42 +01:00
parent 4d7f365358
commit bf9fe902d9
3 changed files with 98 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
controllers/shepherd_dog_rl/shepherd_dog_rl.py
+3 -3
View File
@@ -97,9 +97,9 @@ def build_obs(dog_pos: np.ndarray,
return np.array([
dog_pos[0] / FIELD, dog_pos[1] / FIELD,
(com[0] - dog_pos[0]) / D, (com[1] - dog_pos[1]) / D,
(far1[0] - dog_pos[0]) / D, (far1[1] - dog_pos[1]) / D,
(far2[0] - dog_pos[0]) / D, (far2[1] - dog_pos[1]) / D,
(far3[0] - dog_pos[0]) / D, (far3[1] - dog_pos[1]) / D,
(far1[0] - com[0]) / D, (far1[1] - com[1]) / D,
(far2[0] - com[0]) / D, (far2[1] - com[1]) / D,
(far3[0] - com[0]) / D, (far3[1] - com[1]) / D,
(PEN_CENTER[0] - com[0]) / D, (PEN_CENTER[1] - com[1]) / D,
(PEN_CENTER[0] - far1[0]) / D, (PEN_CENTER[1] - far1[1]) / D,
radius / D,