Checkpoint 6

herding/control/active_scan.py

@@ -24,7 +24,7 @@ from __future__ import annotations
 
 import math
 
-from herding.control import modulate_speed_near_sheep
+from herding.control.modulation import modulate_speed_near_sheep
 
 
 INITIAL_SCAN_STEPS = 80    # ≈1.3 s at dt=16 ms — full rotation at the +π turn target.

herding/control/sequential.py

@@ -24,7 +24,7 @@ flock size and works up to at least n=10 within a 15 000-step budget.
 
 import math
 
-from herding.geometry import GATE_Y, PEN_ENTRY, in_pen
+from herding.world.geometry import GATE_Y, PEN_ENTRY, in_pen
 
 
 DELTA_DRIVE = 1.5     # standoff behind the target sheep

herding/control/strombom.py

@@ -9,7 +9,7 @@ Reference: Strömbom et al. 2014, "Solving the shepherding problem".
 
 import math
 
-from herding.geometry import PEN_ENTRY, GATE_Y, in_pen
+from herding.world.geometry import PEN_ENTRY, GATE_Y, in_pen
 
 # Algorithm parameters. DELTA_DRIVE / DELTA_COLLECT were tightened from
 # the original (4.0 / 2.5) because the new external pen sits ~26 m from

herding/obs.py

@@ -31,7 +31,7 @@ Layout (all components normalised so values stay roughly in [-1, 1]):
 import math
 import numpy as np
 
-from herding.geometry import (
+from herding.world.geometry import (
     FIELD_X, FIELD_Y, PEN_ENTRY, MAX_SHEEP,
 )
 

herding/perception/lidar_perception.py

@@ -29,8 +29,8 @@ import math
 
 import numpy as np
 
-from herding.geometry import FIELD_X, FIELD_Y, GATE_Y, PEN_X, PEN_Y
-from herding.lidar_sim import (
+from herding.world.geometry import FIELD_X, FIELD_Y, GATE_Y, PEN_X, PEN_Y
+from herding.perception.lidar_sim import (
     LIDAR_FOV, LIDAR_MAX_RANGE, LIDAR_N_RAYS, SHEEP_RADIUS, ray_angles,
 )
 

herding/perception/sheep_tracker.py

@@ -26,7 +26,7 @@ from __future__ import annotations
 
 import math
 
-from herding.geometry import MAX_SHEEP, in_pen, is_penned_position
+from herding.world.geometry import MAX_SHEEP, in_pen, is_penned_position
 
 
 GATE_M = 2.5              # m — primary NN gate (recent tracks)

herding/world/flocking_sim.py

@@ -51,7 +51,7 @@ is a defensible engineering adaptation of Strömbom's qualitative
 import math
 import random
 
-from herding.geometry import (
+from herding.world.geometry import (
     FIELD_X, FIELD_Y,
     PEN_X, PEN_Y,
     GATE_X,